Download A Concise Introduction to Mechanics of Rigid Bodies: by L. Huang PDF

By L. Huang

ISBN-10: 1461404711

ISBN-13: 9781461404712

Statics and Dynamics of inflexible Bodies provides an interdisciplinary method of mechanical engineering via a detailed review of the statics and dynamics of inflexible our bodies, featuring a concise creation to either. This quantity bridges the space of interdisciplinary released texts linking fields like mechatronics and robotics with multi-body dynamics so as to offer readers with a transparent route to realizing a variety of sub-fields of mechanical engineering. three-d kinematics, inflexible our bodies in planar areas and various vector and matrix operations are offered to be able to supply a entire figuring out of mechanics via dynamics and inflexible bodies.

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Extra resources for A Concise Introduction to Mechanics of Rigid Bodies: Multidisciplinary Engineering

Example text

The magnitude of the velocity is called the speed. k, respectively. 1 Linear Velocity Referring to Fig. 10, vA is the linear velocity of a body represented by body frame fAg. Using the notations introduced in Sect. 1, it is observed and described in universe frame fU g. By definition, dpOA : vA D pPOA D dt By default, velocity means instantaneous velocity, which is the velocity at the instant of concern. Sometimes we might only be concerned with the average vC aC zˆA C {A} aA A pC vA Z kˆ {U} iˆ Fig.

We must find a way to embed them in a neat and compact notation for the vector. 1 Vector Notations Let pB be the position vector of point B. Define C pB / A as the vector pB observed in frame fAg and described in frame fC g. This notation consists of three parts: • pB : the name of the vector that is at the center of the notation. It refers to the (kinematic or dynamic) property that the vector stands for and the physical entity with which that property is associated. Here, “p” stands for position, and “B” refers to point B.

Universe frame fU g and two body frames fAg and fBg are set up as O and shown in Fig. 4. fAg and fU g share the same origin, and xOA D jO, yOA D k, O zOA D iO . The origin of frame fBg is on axis jO with a distance a from OA , and xOB D k, yOB D iO , and zOB D jO. Point C is on axis zOB . The expressions for the positions of OB and C are determined by the choice of observation frame and description frame. For the position of point OB : pOB D Œa 0 0T ; observed in fAg and described in fAgI A pOB/ A D Œ0 a 0T ; observed in fAg and described in fU gI pOB D Œ0 a 0T ; observed in fU g and described in fU gI B pOB / D Œ0 0 aT ; observed in fU g and described in fBgI B pOB D Œ0 0 0T ; observed in fBg and described in fBg.

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