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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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| Mechanical Joints | |
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| Coordinate Transformation | |
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| Position, Velocity, and 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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| 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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| Constrained Dynamics | |
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| Augmented Formulation | |
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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 and Closed Chains | |
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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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| 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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| Linear and Angular Momentum | |
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| Recursive Methods | |
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| Problems | |
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| Other Topics in Spatial 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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| Problems | |
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| References | |
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| Index | |