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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 | |