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Preface | |
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Introduction | |
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Computational Dynamics | |
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Motion and Constraints | |
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Degrees of Freedom | |
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Kinematic Analysis | |
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Force Analysis | |
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Dynamic Equations and Their Different Forms | |
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Forward and Inverse Dynamics | |
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Planar and Spatial Dynamics | |
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Computer and Numerical Methods | |
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Organization, Scope, and Notations of the Book | |
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Linear Algebra | |
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Matrices | |
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Matrix Operations | |
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Vectors | |
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Three-Dimensional Vectors | |
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Solution of Algebraic Equations | |
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Triangular Factorization | |
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QR Decomposition | |
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Singular Value Decomposition | |
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Problems | |
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Kinematics | |
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Kinematics of Rigid Bodies | |
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Velocity Equations | |
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Acceleration Equations | |
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Kinematics of a Point Moving on a Rigid Body | |
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Constrained Kinematics | |
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Classical Kinematic Approach | |
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Computational Kinematic Approach | |
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Formulation of the Driving Constraints | |
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Formulation of the Joint Constraints | |
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Computational Methods in Kinematics | |
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Computer Implementation | |
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Kinematic Modeling and Analysis | |
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Concluding Remarks | |
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Problems | |
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Forms of the Dynamic Equations | |
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D'Alembert's Principle | |
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D'Alembert's Principle and Newton-Euler Equations | |
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Constrained Dynamics | |
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Augmented Formulation | |
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Lagrange Multipliers | |
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Elimination of the Dependent Accelerations | |
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Embedding Technique | |
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Amalgamated Formulation | |
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Open-Chain Systems | |
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Closed-Chain Systems | |
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Concluding Remarks | |
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Problems | |
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Virtual Work and Lagrangian Dynamics | |
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Virtual Displacements | |
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Kinematic Constraints and Coordinate Partitioning | |
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Virtual Work | |
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Examples of Force Elements | |
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Workless Constraints | |
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Principle of Virtual Work in Statics | |
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Principle of Virtual Work in Dynamics | |
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Lagrange's Equation | |
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Gibbs-Appel Equation | |
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Hamiltonian Formulation | |
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Relationship between Virtual Work and Gaussian Elimination | |
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Problems | |
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Constrained Dynamics | |
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Generalized Inertia | |
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Mass Matrix and Centrifugal Forces | |
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Equations of Motion | |
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System of Rigid Bodies | |
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Elimination of the Constraint Forces | |
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Lagrange Multipliers | |
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Constrained Dynamic Equations | |
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Joint Reaction Forces | |
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Elimination of Lagrange Multipliers | |
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State Space Representation | |
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Numerical Integration | |
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Algorithm and Sparse Matrix Implementation | |
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Differential and Algebraic Equations | |
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Inverse Dynamics | |
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Static Analysis | |
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Problems | |
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Spatial Dynamics | |
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General Displacement | |
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Finite Rotations | |
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Euler Angles | |
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Velocity and Acceleration | |
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Generalized Coordinates | |
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Generalized Inertia Forces | |
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Generalized Applied Forces | |
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Dynamic Equations of Motion | |
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Constrained Dynamics | |
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Formulation of the Joint Constraints | |
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Newton-Euler Equations | |
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D'Alembert's Principle | |
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Linear and Angular Momentum | |
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Recursive Methods | |
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Problems | |
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Special Topics in Dynamics | |
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Gyroscopes and Euler Angles | |
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Rodriguez Formula | |
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Euler Parameters | |
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Rodriguez Parameters | |
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Quaternions | |
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Rigid Body Contact | |
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Stability and Eigenvalue Analysis | |
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Problems | |
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Multibody System Computer Codes | |
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Introduction to SAMS/2000 | |
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Code Structure | |
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System Identification and Data Structure | |
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Installing the Code and Theoretical Background | |
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SAMS/2000 Setup | |
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Use of the Code | |
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Body Data | |
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Constraint Data | |
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Performing Simulations | |
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Batch Jobs | |
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Graphics Control | |
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Animation Capabilities | |
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General Use of the Input Data Panels | |
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Spatial Analysis | |
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Special Modules and Features of the Code | |
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References | |
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Index | |