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Errata to Nikravesh Computer-Aided Analysis of Mechanical Systems

# Errata to Nikravesh Computer-Aided Analysis of Mechanical Systems

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01/03/2014

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ERRATA (Computer-Aided Analysis of Mechanical Systems)
Page 1
ERRATACOMPUTER-AIDED ANALYSIS OF MECHANICAL SYSTEMSParviz E. NikraveshPrentice-Hall, 1988(Corrections as of January 1, 2004)Address to an error is given in the first column by the page number and in the secondcolumn by a line number, or a figure number, or an equation number. For example: “line2” means the second line from the top of the page; “line –3” means the third line from thebottom of the page; “Eq. 2.30, +2” means the second line following Eq. 2.30; Eq. 6.48,line 1 means the first line in Eq. 6.48.
PageLine, Fig., ErrorCorrection
10Eq. 1.6correct to:
( ) cos cos cos( )
r l s d rl ls rs
2 2 2 21 1
2 2 2 0
+ + + + =
φθφθ
Eq. 1.7correct to:
( ) cos cos
r l s d rl ds
2 2 2 22
2 2 0
+ + =
φθ
11, 12Figs. 1.12, 1.13, 1.14The link lengths are: crank =
, coupler =
, follower =
s
,frame =
l
23Eq. 2.30, +3
a
ij
=
0
a
ii
=
0
Eq. 2.33, +1correct to: where
I
is a 3 x 3 identity matrix. The …25Eq. 2.42
0
028Eq. 2.61
˙˙
α
a
˙
α
a
29line 2=
c
… = c30Ex. 2.5, +4
6
2 42
x x
6
2 4
x x
32Eq. 2.75, -2n-vector3-vectorEq. 2.75, +1n x m matrix3 x m matrix34Prob. 2.16make the following corrections:
A
ii ii i
=
cos sinsin cos
φφ φφ
000 0 1

c
1
1 20 50
=
..

c
2
0 30 80
=
..

d
=
x x y y
2 12 1
0
42Eq. 3.4, +5
m
= 4 x 3 = 12
m
= 6 x 2 = 1245Fig. 3.9
l
3
= 3 m
l
3
= 0.3 mEq. a
v
i
v
i
footnote, line 1
[ , ]
u v
ii
[ , ]
u v
i i
T T
48line 3
˙˙.
φ
3
5 39
=
˙˙.
φ
3
5 39
= −
49Eq. 3.15, 1
st
( )
˙
L
q
( )˙
L
q
Eq. 3.15, 2
nd
( ) ( )˙
L L L
+ +
q
q
( ) ( )˙
L L L
+ +
q
q

ERRATA (Computer-Aided Analysis of Mechanical Systems)
Page 2
60last equation
13 5717.
13 5717.
67Fig. 3.11infectioninflection69Ex. 3.13, +2
Φ
2
φ
2
Ex. 3.13, +2
Φ
1
φ
1
Ex. 3.13, +7
[ , ]
Φ
2
T
[ , ]
φ
2
T
Ex. 3.13, +8
[ ]
Φ
1
[ ]
φ
1
Eq. 5
ΦΦ
12
ΦΦ
12
70line 11move the thick line from before the table to below the table2
nd
row in the table
326
o
320
o
103line 2
r
..
i
˙˙
r
i
line 3
r
..
i
˙˙
r
i
line –7, circled 2
+
ξφηφ
iPi iPi
sin cos
ξφηφ
iPi iPi
sin cos
109Eq. f, line 3
Φ Φ
3 1
0
=
Φ
3 1
0
=
φ
110line 5
( sin )
y y
1 1 4
100
φ
( )
y y
1 4
( cos )
x x
1 1 4
100
φ
( )
x x
1 4
line 22, circled 30replace the statement for circled 30 with:circled 7, circled 11, circled 21, circled 25, circled 30 = 0line 25, circled 33
( sin )
y y
1 1 4
100
φ
( )
y y
1 4
( cos )
x x
1 1 4
100
φ
( )
x x
1 4
114before last parag.redundant data (it could be removed)127
Sub. INPOIN
, +6centroidorigin133
Sub. SMPL
, +4NG>0 and NS>0NG>0 or NS>0141top lineProgram ExpansionProblems143top lineProgram ExpansionProblems145top lineProgram ExpansionProblems147top lineProgram ExpansionProblems149top lineProgram ExpansionProblems151top lineProgram ExpansionProblems154Fig. 6.2_is missing on the axis155line 11
( )
( )
r
u
z
r
u
z
( )
158Fig. 6.4replace with the following figure

ERRATA (Computer-Aided Analysis of Mechanical Systems)
Page 3
xyz
φ
r
s
'
r
s
xyz
φ
r
s
ξ ηζ
(a)(b)
160Eq. 6.22
e
T
e
T
165-7
u
ζ
= =
L
0 9220 2930 387...
u
ζ
= =
L
0 9220 0290 387...
-5
A
=
L L LL LL L L
0 293.
A
=
L L LL LL L L
0 029.
-4
p
=
[ . , . , . , . ]0 810 0 029 0 543 0 191
p
=
[ . , . , . , . ]0 810 0 1103 0 543 0 191
168Eq. 6.48, line 1
+
ee I
T
e
0
+
ee I
T
˜
e
0
171Eq. b
p
.
˙
p
line 4
L
=
+
˙ ˙
ap
L
=
+
˙
ap
174footnote, +2
( )'
s
P
(˙)'
s
P
175Eq. 6.109, +1
L
+
2˙
Gp
L
+
2˙˙
Gp
176last equation
S
s
178Eq. 6.118, line 1
ee
j j
0
e
j j
0
e
181PROBLEMS, -2missing Eq. #
ωωωωωω
j i ji
= +
(6.128)201Eq. 5, +1Eqs. 6.73, 6.54, Eqs. 6.73, 6.55, 202Ex. 7.3, last equation
L L
˙ ˙
G L
i i
L L
˙ ˙
G L
i i
(correct twice)203

TABLE 7.2col. 3, row 5
s
'
i
s
'
i
col. 5, row 3
s
'
j B
s
'
j B
col. 6, row 3
s h h
i i B j B
T
( )
L
s h h
T
i j Bi B
( )
L
col. 6, row 5
˜( )
s h h
i j Bi B
L
˜( )
s h h
i j Bi B
L