ERRATA

COMPUTER-AIDED ANALYSIS OF MECHANICAL SYSTEMS

Parviz E. Nikravesh
Prentice-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 second
column by a line number, or a figure number, or an equation number. For example: line
2 means the second line from the top of the page; line 3 means the third line from the
bottom 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.
Page Line, Fig.,
10

Error

Correction

Eq. 1.6

correct to:
( r 2 + l 2 + s2 d 2 ) 2 rl cos 2 ls cos1 + 2 rs cos( + 1 ) = 0
Eq. 1.7
correct to:
( r 2 + l 2 s2 d 2 ) 2 rl cos + 2 ds cos 2 = 0
11, 12 Figs. 1.12, 1.13, 1.14 The link lengths are: crank = r, coupler = d, follower = s,
frame = l
aij = 0
23
Eq. 2.30, +3
aii = 0
Eq. 2.33, +1
correct to: where I is a 3 x 3 identity matrix. The
25
Eq. 2.42
0
0

28
Eq. 2.61
a
a
29
line 2
=c
=c
2
30
Ex. 2.5, +4
6 x2 x4
6 x2 x4
32
Eq. 2.75, -2
n-vector
3-vector
Eq. 2.75, +1
n x m matrix
3 x m matrix
34
Prob. 2.16
make the following corrections:
1.2
0.3
cos i sin i 0
x 2 x1

A i = sin i cos i 0 c1 = 0.5 c 2 = 0.8 d = y 2 y1

0
0
0
0
0
1
42
Eq. 3.4, +5
m = 4 x 3 = 12
m = 6 x 2 = 12
45
Fig. 3.9
l3 = 3 m
l3 = 0.3 m
i
v
vi
Eq. a
t
t
T
T
footnote, line 1
[ui , v i ]
[ui , v i ]
48
line 3
3 = 5.39
3 = 5.39
st
(L) q
49
Eq. 3.15, 1
(L)q
nd
(L) + (L) q q + L
(L) + (L) q q + L
Eq. 3.15, 2

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70

line 11
2nd row in the table

1
1
3.5
3.5

7
7

17
17
infection
inflection
2
2
1
1
T
[ 2 , d ]
[ 2 , d ]T
[1 ]
[1 ]
1
1


2
2
move the thick line from before the table to below the table
326 o
320 o

103

line 2

60

last equation

67
69

Fig. 3.11
Ex. 3.13, +2
Ex. 3.13, +2
Ex. 3.13, +7
Ex. 3.13, +8
Eq. 5

..
..

109
110

line 3
line 7, circled 2
Eq. f, line 3
line 5
line 22, circled 30
line 25, circled 33

114
127
133
141
143
145
147
149
151
154
155
158

before last parag.

Sub. INPOIN, +6
Sub. SMPL, +4
top line
top line
top line
top line
top line
top line
Fig. 6.2
line 11
Fig. 6.4

ri

r i
ri
P
P
i sin i + i cos i iP sin i iP cos i
3 1 = 0
3 1 = 0
( y1 100 sin 1 y 4 ) ( y1 y 4 )
( x1 100 cos1 x 4 ) ( x1 x 4 )
replace the statement for circled 30 with:
circled 7, circled 11, circled 21, circled 25, circled 30 = 0
( y1 100 sin 1 y 4 ) ( y1 y 4 )
( x1 100 cos1 x 4 ) ( x1 x 4 )
redundant data (it could be removed)
centroid
origin
NG>0 and NS>0
NG>0 or NS>0
Program Expansion Problems
Program Expansion Problems
Program Expansion Problems
Program Expansion Problems
Program Expansion Problems
Program Expansion Problems
_
r is missing on the axis
r
( u )( z )
u( z )
replace with the following figure

ERRATA (Computer-Aided Analysis of Mechanical Systems)

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r
s'

r
s

r
s
y

(a)

160
165

Eq. 6.22
-7

-5
-4

168

Eq. 6.48, line 1

171

Eq. b

(b)

eT

eT

0.922
0.922

u = L = 0.029
u = L = 0.293
0.387
0.387
L
L
L L
L L

A = L L 0.029
A = L L 0.293
L L
L L
L
L
p = [0.810, 0.029, 0.543, 0.191]T
p = [0.810, 0.1103, 0.543, 0.191]T
e T
e T

e + e0I
e + e0I
.

p
+

174
175
176
178
181
201
202
203

L = a p
L = a p
P
(s)'
(s)'P

L + 2Gp
L + 2Gp

S
s
e0 j
e0 j
Eq. 6.118, line 1
e
e
j
j
j = i + ji
PROBLEMS, -2
missing Eq. #
(6.128)
Eq. 5, +1
Eqs. 6.73, 6.54, Eqs. 6.73, 6.55,
L L
L T L (correct twice)
Ex. 7.3, last equation L G
LG
i i
i i
TABLE 7.2
col. 3, row 5
s'i
s'i
B
col. 5, row 3
s' j
s' j B
col. 6, row 3
sTi (hBi hBj )L
sTi (hBj hBi )L
col. 6, row 5
s i (hBj hBi )L
s i (hBj hBi )L
line 4
footnote, +2
Eq. 6.109, +1
last equation

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206
209
210
213
216
219
223
229
250

col. 6, row 7
top figure
Eq. (a), -1
Fig. 8.2
line 4
line 6
Eq. i
Eq. 8.27, line 3
parag. 2, +6
line 5
Prob. 9.7 (c)
Prob. 9.7
Prob. 9.8 (d)

256
257

260
262

2dT (hPi hPj )L

2dT (hPj hPi )L
missing caption
Figure P.7.19
body i
particle
i
r
fp
fp
O
n =L
nO = L
n = s A f + s B ( f )
n = s A f + s B (f )
r Pj
r Pj
subscript (v) for the integral is missing
hi = [r T , ']Ti
hi = [r T , 'T ]Ti
sP = A is'Pi
sPi = A is'Pi
0.05, determine 0.05 (other velocities are zero),
determine
add the following:
(e) Find the accelerations in this configuration.
add to the end:
(let x1 = y1 = y 2 = 0 )

line 20
M10, Length

correct to: C..N must be greater than or equal to M

N
N+M
M Tq

M10, Description
q

q 0
line 9
, ETA, P-J
, ETA-P-J
Sub. TRANSF
, Sec. 5.1.1
, Sec. 5.1.2
Following Sub. TRIG, before Sub. MASS
missing statement for Sub. MASS (add the following:)
Subroutine MASS. This subroutine generates the square matrix to the left
of Eq. 10.5 containing the mass and the moment of inertia for each body, the
Jacobian matrix and its transpose.
Subroutine MASS is as follows:

263

269
275
276
284
286
289
290

Sub. FUNCT
Sub. RVLT
Sub. TRAN
Sub. SMPL
line 6 data
line 14
line 3
Prob. 10.24, line 3
last line
line 7
line 5
Eq. (b) line 1

Sec. 5.2.3
Sec. 5.2.3
Sec. 5.2.3
Sec. 5.2.3
1,2,0,-1,0
2,3,-.38
3.669.2
, as can that
axial
n
r
ni
(A is'i )
pi

Sec. 5.1.3
Sec. 5.1.3
Sec. 5.1.3
Sec. 5.1.3
1,2,0,0,-1,0
2,3,-.38,0,0
3669.2
, as that
radial
n'i
n'i
(A is'i )
pi

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296
299

line 5
Eq. 11.40
Eq. 3
following Eq. 4
parag. following Eq. 4

pTi pi 1 = 0
pTi pi 1 = 0
'1 J'1 'i
'1 J'1 '1
T
T
L + (s j A is 'i s j A is 'i ) 'i + L
L + (sTj A is 'i sTj A is 'i ) 'i + L
a thick line is needed
the paragraph should not be indented

300

TABLE 11.1
col. 6, row 6
following Table 11.1
Prob. 11.3
Fig. P.11.7

2dT d + L
2d T d + L
remove the thick line
Eq. 11.6
Eq. 11.16
the vecor for n 2 should be a thick line

302

Eq. 12.5

i = y (t i ) y i )

311

Eq. 12.24

314
316
333
334
357
368

line before footnote

line 7
parag. 3, +3
line (a.3)
Ref. 15
Sparse matrix

i = y (t i ) y i
1

L
L

y i +1 = I b1 L
y i +1 = I h b1 L

L
L
0
o
time t to a final time t to a final
Method 1.
Method I.
the for of
the form of

Wehave
Wehage
100, 144
110, 144

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