Dynamics
eBook - PDF

Dynamics

Theory and Application of Kane's Method

Carlos M. Roithmayr, Dewey H. Hodges

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eBook - PDF

Dynamics

Theory and Application of Kane's Method

Carlos M. Roithmayr, Dewey H. Hodges

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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

Publisher
Cambridge University Press
Year
2016
ISBN
9781316055878
Topic
Sciences physiques
Subtopic
Mécanique des fluides
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
.

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