Applied Dynamics: With Applications to Multibody and Mechatronic Systems

APPLIED DYNAMICS With Applications to Multibody and Mechatronic Systems......Page 2
CONTENTS......Page 8
Preface......Page 12
1.1 Introduction......Page 16
1.2 What’s New in Dynamics?......Page 17
1.3 Dynamic Failures......Page 28
1.4 Basic Paradigms in Dynamics......Page 34
1.5 Coupled and Complex Dynamic Phenomena......Page 46
1.6 Dynamics and Design......Page 47
1.7 Modern Physics of Dynamics and Gravity......Page 48
2.2 Kinematics......Page 51
2.3 Equilibrium and Virtual Work......Page 57
2.4 Systems of Particles......Page 59
2.5 Rigid Bodies......Page 66
2.6 D’Alembert’s Principle......Page 69
2.7 The Principle of Virtual Power......Page 71
3.1 Introduction......Page 77
3.2 Angular Velocity......Page 79
3.3 Matrix Representation of Angular Velocity......Page 82
3.4 Kinematics Relative to Moving Coordinate Frames......Page 83
3.5 Constraints and Jacobians......Page 87
3.6 Finite Motions......Page 90
3.7 Transformation Matrices for General Rigid-body Motion......Page 98
3.8 Kinematic Mechanisms......Page 103
4.1 Introduction......Page 118
4.2 D’Alembert’s Principle......Page 122
4.3 Lagrange’s Equations......Page 131
4.4 The Method of Virtual Power......Page 148
4.5 Nonholonomic Constraints: Lagrange Multipliers......Page 161
4.6 Variational Principles in Dynamics: Hamilton’s Principle......Page 168
5.1 Introduction......Page 183
5.2 Kinematics of Rigid Bodies......Page 186
5.3 Newton-Euler Equations of Motion......Page 196
5.4 Lagrange’s Equations for a Rigid Body......Page 220
5.5 Principle of Virtual Power for a Rigid Body,......Page 229
5.6 Nonholonomic Rigid Body Problems......Page 245
6.1 Introduction......Page 269
6.2 Graph Theory and Incidence Matrices......Page 273
6.3 Kinematics......Page 280
6.4 Equations of Motion......Page 284
6.5 Inverse Problems......Page 304
6.6 Impact Problems......Page 311
7.1 Introduction......Page 340
7.2 Central-force Dynamics......Page 342
7.3 Two-body Problems......Page 353
7.4 Rigid-body Satellite Dynamics......Page 356
7.5 Tethered Satellites......Page 373
8.1 Introduction and Applications......Page 389
8.2 Electric and Magnetic Forces......Page 391
8.3 Electromechanical Material Properties......Page 398
8.4 Dynamic Principles of Electromagnetics......Page 405
8.5 Lagrange’s Equations for Magnetic Systems......Page 410
8.6 Applications......Page 422
8.7 Control Dynamics......Page 431
9.1 Introduction......Page 447
9.2 Nonlinear Resonance......Page 450
9.3 The Undampled Pendulum: Phase-plane Motions......Page 454
9.4 Self-excited Oscillations: Limit Cycles......Page 458
9.5 Flows and Maps: Poincaré Sections......Page 461
9.6 Complex Dynamics in Rigid-body Applications......Page 473
Appendix A Second Moments of Mass for Selected Geometric Objects......Page 489
Appendix B Commercial Dynamic Analysis and Simulation Software Codes......Page 493
References......Page 498
Index......Page 502