Dynamics
eBook - PDF

Dynamics

Theory and Application of Kane's Method

Carlos M. Roithmayr,Dewey H. Hodges

  1. English
  2. PDF
  3. Available on iOS & Android
eBook - PDF

Dynamics

Theory and Application of Kane's Method

Carlos M. Roithmayr,Dewey H. Hodges

Book details
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Table of contents
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About This Book

This book is ideal for teaching students in engineering or physics the skills necessary to analyze motions of complex mechanical systems such as spacecraft, robotic manipulators, and articulated scientific instruments. Kane's method, which emerged recently, reduces the labor needed to derive equations of motion and leads to equations that are simpler and more readily solved by computer, in comparison to earlier, classical approaches. Moreover, the method is highly systematic and thus easy to teach. This book is a revision of Dynamics: Theory and Applications (1985), by T. R. Kane and D. A. Levinson, and presents the method for forming equations of motion by constructing generalized active forces and generalized inertia forces. Important additional topics include approaches for dealing with finite rotation, an updated treatment of constraint forces and constraint torques, an extension of Kane's method to deal with a broader class of nonholonomic constraint equations, and other recent advances.

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Information

Year
2016
ISBN
9781316055878
18
DIFFERENTIATION
OF
VECTORS
1.13
The
ordinary
derivative
of
s
with
respect
to
t
is
given
by
ds
dt
=
d
a
dt
·
(
b
×
c
)
+
a
·
d
b
dt
×
c
!
+
a
·
b
×
d
c
dt
!
-
10
t
=
(
b
×
c
)
·
d
a
dt
+
(
c
×
a
)
·
d
b
dt
+
(
a
×
b
)
·
d
c
dt
-
10
t
(3)
whereupon
one
can
readily
identify
the
partial
derivatives
s
/∂
a
=
b
×
c
,
s
/∂
b
=
c
×
a
,
and
s
/∂
c
=
a
×
b
.

Table of contents

  1. Cover
  2. Half Title
  3. Title
  4. Copyright
  5. Contents
  6. Preface
  7. Preface to Dynamics: Theory and Applications
  8. To the Reader
  9. 1 Differentiation of Vectors
  10. 2 Kinematics
  11. 3 Constraints
  12. 4 Mass Distribution
  13. 5 Generalized Forces
  14. 6 Constraint Forces, Constraint Torques
  15. 7 Energy Functions
  16. 8 Formulation of Equations of Motion
  17. 9 Extraction of Information from Equations of Motion
  18. 10 Kinematics of Orientation
  19. Problem Sets
  20. Appendix I Direction Cosines as Functions of Orientation Angles
  21. Appendix II Kinematical Differential Equations in Terms of Orientation Angles
  22. Appendix III Inertia Properties of Uniform Bodies
  23. Index