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Computational Dynamics

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ISBN-10: 0471371440

ISBN-13: 9780471371441

Edition: 2nd 2001 (Revised)

Authors: Ahmed A. Shabana

List price: $145.00
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Description:

Covering essential topics in kinematics and dynamics of motion in three dimensions, this is an introduction to the concepts, definitions and techniques used in multibody dynamics.
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Book details

List price: $145.00
Edition: 2nd
Copyright year: 2001
Publisher: John Wiley & Sons, Incorporated
Publication date: 2/26/2001
Binding: Hardcover
Pages: 520
Size: 6.50" wide x 9.50" long x 1.25" tall
Weight: 1.892

Preface
Introduction
Computational Dynamics
Motion and Constraints
Degrees of Freedom
Kinematic Analysis
Force Analysis
Dynamic Equations and Their Different Forms
Forward and Inverse Dynamics
Planar and Spatial Dynamics
Computer and Numerical Methods
Organization, Scope, and Notations of the Book
Linear Algebra
Matrices
Matrix Operations
Vectors
Three-Dimensional Vectors
Solution of Algebraic Equations
Triangular Factorization
QR Decomposition
Singular Value Decomposition
Problems
Kinematics
Mechanical Joints
Coordinate Transformation
Position, Velocity, and Acceleration Equations
Kinematics of a Point Moving on a Rigid Body
Constrained Kinematics
Formulation of the Joint Constraints
Computational Methods in Kinematics
Computer Implementation
Kinematic Modeling and Analysis
Concluding Remarks
Problems
Forms of the Dynamic Equations
D'Alembert's Principle
Constrained Dynamics
Augmented Formulation
Elimination of the Dependent Accelerations
Embedding Technique
Amalgamated Formulation
Open and Closed Chains
Concluding Remarks
Problems
Virtual Work and Lagrangian Dynamics
Virtual Displacements
Kinematic Constraints and Coordinate Partitioning
Virtual Work
Examples of Force Elements
Workless Constraints
Principle of Virtual Work in Statics
Principle of Virtual Work in Dynamics
Lagrange's Equation
Gibbs-Appel Equation
Hamiltonian Formulation
Relationship between Virtual Work and Gaussian Elimination
Problems
Constrained Dynamics
Generalized Inertia
Mass Matrix and Centrifugal Forces
Equations of Motion
System of Rigid Bodies
Elimination of the Constraint Forces
Lagrange Multipliers
Constrained Dynamic Equations
Joint Reaction Forces
Elimination of Lagrange Multipliers
State Space Representation
Numerical Integration
Differential and Algebraic Equations
Inverse Dynamics
Static Analysis
Problems
Spatial Dynamics
General Displacement
Finite Rotations
Euler Angles
Velocity and Acceleration
Generalized Coordinates
Generalized Inertia Forces
Generalized Applied Forces
Dynamic Equations of Motion
Constrained Dynamics
Formulation of the Joint Constraints
Newton-Euler Equations
Linear and Angular Momentum
Recursive Methods
Problems
Other Topics in Spatial Dynamics
Gyroscopes and Euler Angles
Rodriguez Formula
Euler Parameters
Rodriguez Parameters
Quaternions
Rigid Body Contact
Problems
References
Index