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Preface | |

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About the Authors | |

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Kinematics and Mechanisms | |

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The World of Mechanisms | |

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Introduction | |

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Analysis and Synthesis | |

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The Science of Mechanics | |

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Terminology, Definitions, and Assumptions | |

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Planar, Spherical, and Spatial Mechanisms | |

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Mobility | |

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Classification of Mechanisms | |

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Kinematic Inversion | |

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Grashof's Law | |

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Mechanical Advantage | |

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Problems | |

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Position and Displacement | |

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Locus of a Moving Point | |

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Position of a Point | |

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Position Difference Between Two Points | |

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Apparent Position of a Point | |

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Absolute Position of a Point | |

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The Loop-Closure Equation | |

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Graphic Position Analysis | |

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Algebraic Position Analysis | |

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Complex-Algebra Solutions of Planar Vector Equations | |

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Complex Polar Algebra | |

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The Chace Solutions to Planar Vector Equations | |

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Position Analysis Techniques | |

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Coupler-Curve Generation | |

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Displacement of a Moving Point | |

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Displacement Difference Between Two Points | |

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Rotation and Translation | |

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Apparent Displacement | |

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Absolute Displacement | |

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Apparent Angular Displacement | |

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Problems | |

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Velocity | |

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Definition of Velocity | |

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Rotation of a Rigid Body | |

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Velocity Difference Between Points of a Rigid Body | |

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Graphic Methods | |

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Velocity Polygons | |

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Apparent Velocity of a Point in a Moving Coordinate System | |

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Apparent Angular Velocity | |

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Direct Contact and Rolling Contact | |

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Systematic Strategy for Velocity Analysis | |

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Analytic Methods | |

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Complex-Algebra Methods | |

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The Vector Method | |

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The Method of Kinematic Coefficients | |

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Instantaneous Center of Velocity | |

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The Aronhold-Kennedy Theorem of Three Centers | |

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Locating Instant Centers of Velocity | |

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Velocity Analysis Using Instant Centers | |

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The Angular Velocity Ratio Theorem | |

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Relationships Between First-Order Kinematic Coefficients and Instant Centers | |

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Freudenstein's Theorem | |

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Indices of Merit | |

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Mechanical Advantage | |

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Centrodes | |

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Problems | |

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Acceleration | |

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Definition of Acceleration | |

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Angular Acceleration | |

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Acceleration Difference Between Points of a Rigid Body | |

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Acceleration Polygons | |

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Apparent Acceleration of a Point in a Moving Coordinate System | |

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Apparent Angular Acceleration | |

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Direct Contact and Rolling Contact | |

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Systematic Strategy for Acceleration Analysis | |

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Analytic Methods | |

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Complex-Algebra Methods | |

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The Chace Solutions | |

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The Method of Kinematic Coefficients | |

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The Euler-Savary Equation | |

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The Bobillier Constructions | |

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The Instant Center of Acceleration | |

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The Bresse Circle (or de La Hire Circle) | |

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Radius of Curvature of Point Trajectory Using Kinematic Coefficients | |

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The Cubic of Stationary Curvature | |

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Problems | |

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Multi-Degree-of-Freedom Planar Linkages | |

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Introduction | |

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Position Analysis | |

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Algebraic Solution | |

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Graphic Methods | |

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Velocity Polygons | |

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Instant Centers of Velocity | |

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First-Order Kinematic Coefficients | |

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The Method of Superposition | |

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Graphic Method | |

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Acceleration Polygons | |

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Second-Order Kinematic Coefficients | |

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Path Curvature of a Coupler Point | |

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The Finite Difference Method | |

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Problems | |

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Design of Mechanisms | |

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Cam Design | |

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Introduction | |

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Classification of Cams and Followers | |

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Displacement Diagrams | |

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Graphical Layout of Cam Profiles | |

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Kinematic Coefficients of the Follower Motion | |

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High-Speed Cams | |

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Standard Cam Motions | |

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Matching Derivatives of Displacement Diagrams | |

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Plate Cam with Reciprocating Flat-Face Follower | |

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Plate Cam with Reciprocating Roller Follower | |

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Problems | |

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Spur Gears | |

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Terminology and Definitions | |

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Fundamental Law of Toothed Gearing | |

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Involute Properties | |

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Interchangeable Gears | |

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AGMA Standards | |

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Fundamentals of Gear-Tooth Action | |

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The Manufacture of Gear Teeth | |

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Interference and Undercutting | |

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Contact Ratio | |

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Varying the Center Distance | |

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Involutometry | |

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Nonstandard Gear Teeth | |

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Problems | |

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Helical Gears, Bevel Gears, Worms and Worm Gears | |

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Parallel-Axis Helical Gears | |

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Helical Gear Tooth Relations | |

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Helical Gear Tooth Proportions | |

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Contact of Helical Gear Teeth | |

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Replacing Spur Gears with Helical Gears | |

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Herringbone Gears | |

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Crossed-Axis Helical Gears | |

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Straight-Tooth Bevel Gears | |

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Tooth Proportions for Bevel Gears | |

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Crown and Face Gears | |

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Spiral Bevel Gears | |

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Hypoid Gears | |

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Worms and Worm Gears | |

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Problems | |

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Mechanism Trains | |

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Parallel-Axis Gear Trains | |

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Examples of Gear Trains | |

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Determining Tooth Numbers | |

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Epicyclic Gear Trains | |

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Bevel Gear Epicyclic Trains | |

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Analysis of Epicyclic Gear Trains by Formula | |

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Tabular Analysis of Epicyclic Gear Trains | |

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Summers and Differentials | |

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All Wheel Drive Train | |

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Problems | |

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Synthesis of Linkages | |

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Type, Number, and Dimensional Synthesis | |

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Function Generation, Path Generation, and Body Guidance | |

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Two Finitely Separated Positions of a Rigid Body (N = 2) | |

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Three Finitely Separated Positions of a Rigid Body (N = 3) | |

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Four Finitely Separated Positions of a Rigid Body (N = 4) | |

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Five Finitely Separated Positions of a Rigid Body (N = 5) | |

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Precision Positions | |

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Structural Error | |

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Chebychev Spacing | |

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The Overlay Method | |

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Coupler-Curve Synthesis | |

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Cognate Linkages | |

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The Roberts-Chebychev Theorem | |

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Freudenstein's Equation | |

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Analytic Synthesis Using Complex Algebra | |

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Synthesis of Dwell Mechanisms | |

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Intermittent Rotary Motion | |

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Problems | |

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Spatial Mechanisms | |

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Introduction | |

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Exceptions to the Mobility of Mechanisms | |

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The Spatial Position-Analysis Problem | |

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Spatial Velocity and Acceleration Analyses | |

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Euler Angles | |

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The Denavit-Hartenberg Parameters | |

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Transformation-Matrix Position Analysis | |

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Matrix Velocity and Acceleration Analyses | |

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Generalized Mechanism Analysis Computer Programs | |

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Problems | |

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Robotics | |

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Introduction | |

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Topological Arrangements of Robotic Arms | |

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Forward Kinematics | |

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Inverse Position Analysis | |

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Inverse Velocity and Acceleration Analyses | |

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Robot Actuator Force Analysis | |

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Problems | |

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Dynamics of Machines | |

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Static Force Analysis | |

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Introduction | |

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Newton's Laws | |

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Systems of Units | |

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Applied and Constraint Forces | |

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Free-Body Diagrams | |

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Conditions for Equilibrium | |

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Two- and Three-Force Members | |

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Four-Force Members | |

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Friction-Force Models | |

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Static Force Analysis with Friction | |

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Spur- and Helical-Gear Force Analysis | |

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Straight-Tooth-Bevel-Gear Force Analysis | |

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The Method of Virtual Work | |

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Euler Column Formula | |

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The Critical Unit Load | |

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Critical Unit Load and the Slenderness Ratio | |

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The Johnson Parabolic Equation | |

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Problems | |

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Dynamic Force Analysis | |

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Introduction | |

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Centroid and Center of Mass | |

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Mass Moments and Products of Inertia | |

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Inertia Forces and D'Alembert's Principle | |

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The Principle of Superposition | |

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Planar Rotation about a Fixed Center | |

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Shaking Forces and Moments | |

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Complex Algebra Approach | |

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Equation of Motion From Power Equation | |

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Measuring Mass Moment of Inertia | |

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Transformation of Inertia Axes | |

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Euler's Equations of Motion | |

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Impulse and Momentum | |

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Angular Impulse and Angular Momentum | |

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Problems | |

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Vibration Analysis | |

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Differential Equations of Motion | |

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A Vertical Model | |

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Solution of the Differential Equation | |

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Step Input Forcing | |

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Phase-Plane Representation | |

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Phase-Plane Analysis | |

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Transient Disturbances | |

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Free Vibration with Viscous Damping | |

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Damping Obtained by Experiment | |

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Phase-Plane Representation of Damped Vibration | |

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Response to Periodic Forcing | |

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Harmonic Forcing | |

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Forcing Caused by Unbalance | |

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Relative Motion | |

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Isolation | |

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Rayleigh's Method | |

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First and Second Critical Speeds of a Shaft | |

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Torsional Systems | |

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Problems | |

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Dynamics of Reciprocating Engines | |

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Engine Types | |

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Indicator Diagrams | |

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Dynamic Analysis-General | |

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Gas Forces | |

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Equivalent Masses | |

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Inertia Forces | |

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Bearing Loads in a Single-Cylinder Engine | |

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Crankshaft Torque | |

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Shaking Forces of Engines | |

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Computation Hints | |

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Problems | |

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Balancing | |

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Static Unbalance | |

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Equations of Motion | |

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Static Balancing Machines | |

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Dynamic Unbalance | |

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Analysis of Unbalance | |

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Dynamic Balancing | |

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Balancing Machines | |

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Field Balancing with a Programmable Calculator | |

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Balancing a Single-Cylinder Engine | |

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Balancing Multi-Cylinder Engines | |

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Analytical Technique for Balancing Multi-Cylinder Engines | |

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Balancing Linkages | |

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Balancing of Machines | |

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Problems | |

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Cam Dynamics | |

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Rigid- and Elastic-Body Cam Systems | |

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Analysis of an Eccentric Cam | |

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Effect of Sliding Friction | |

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Analysis of Disk Cam with Reciprocating Roller Follower | |

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Analysis of Elastic Cam Systems | |

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Unbalance, Spring Surge, and Windup | |

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Problems | |

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Flywheels, Governors, and Gyroscopes | |

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Dynamic Theory of Flywheels | |

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Integration Technique | |

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Multi-Cylinder Engine Torque Summation | |

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Classification of Governors | |

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Centrifugal Governors | |

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Inertia Governors | |

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Mechanical Control Systems | |

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Standard Input Functions | |

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Solution of Linear Differential Equations | |

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Analysis of Proportional-Error Feedback Systems | |

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Introduction to Gyroscopes | |

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The Motion of a Gyroscope | |

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Steady or Regular Precession | |

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Forced Precession | |

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Problems | |

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Appendixes | |

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Tables | |

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Standard SI Prefixes | |

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Conversion from US Customary Units to SI Units | |

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Conversion from SI Units to US Customary Units | |

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Properties of Areas | |

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Mass Moments of Inertia | |

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Involute Function | |

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Answers to Selected Problems | |

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Index | |