MTE500 Ch2 Dynamics PDF

Analytical and Adaptive Dynamics in
Mechatronic Systems
Ch2: Dynamics
Dr. Hassan Diab

Spring 2019/2020
What’s New in Dynamics
• Newton-Euler approach for dynamic
models:
• Newton: Linear Momentum
• Euler: Angular Momentum
• D'Alembert's principle (Virtual
Work):
• Hamilton's principle
• Lagrange Equation
• Kane’s Equation (Virtual Power):
4/28/2020 Dr. Hassan Diab – MTE 500– Spring 2019/2020 2

New Application
• Multibody Problems:
• Mechanisms
• Manipulators
• Wheeled or legged platforms

New Application
• Mechatronics:
• Controlled Machines
• Smart or Intelligent Machine and structures
• Robots
MEMS Mag-Lev

Dynamic Instability
• 𝑢 is the lateral motion of the center of mass
• ∅ is the yaw rotation
• The coupled oscillations are presented in:
• Solving the Eigenvalue problem will result

in two solutions of the form:
𝑆𝑖 = 𝛼𝑖 + 𝑖 𝛽𝑖
• The stability is known from the values of 𝛼𝑖 and 𝛽𝑖

Dynamic Generation of noise

Basic Models in Dynamics
• Motion under a constant force.

• Pendulum.
When the angle is small:
The solution is: Where
The natural frequency is:

• Pendulum.
When the angle is small:
The solution is: Where
The natural frequency is:

• Linear Oscillation.
Where
When damping and forcing are zeros The solution is:
When damping is small

• Linear Oscillation.
Where
When damping and forcing are zeros The solution is:
When damping is small

• Gyroscopic Motion.
The rotation vector is:

Basic Models in Dynamics 𝒅𝒆 𝒚
𝒆𝒚
𝒆′𝒙
𝒆′𝒚 𝒅𝒆𝒙
𝒅ψ
𝒆𝒙
𝒅𝒆𝒙 = 𝒆𝒙 𝒅ψ 𝒆𝒚 = 𝒅ψ 𝒆𝒚 𝒅𝒆𝒚 = 𝒆𝒚 𝒅ψ − 𝒆𝒙 = −𝒅ψ 𝒆𝒙
𝒆𝒙ሶ = ψሶ 𝒆𝒚 𝒆𝒚ሶ = −ψሶ 𝒆𝒙
𝒆ሶ = 𝝮 × 𝒆 𝒆𝒙ሶ = 𝝎 × 𝒆𝒙 𝒆𝒚ሶ = 𝝎 × 𝒆𝒚
= ψሶ 𝒆𝒛 × 𝒆𝒙 = ψሶ 𝒆𝒛 × 𝒆𝒚
𝝎 = ∅ሶ 𝒆𝒙 + ψሶ 𝒆𝒛 𝝮 = ψሶ 𝒆𝒛 = ψሶ 𝒆𝒚 = −ψሶ 𝒆𝒙
𝝮: the rotation vector
that 𝒆𝒙 and 𝒆𝒚 subjected to.
• Gyroscopic Motion.
The rotation vector is:
The moment must have a y component

Coupled Fields

Complex Dynamics

• Cartesian components
• Position
• Velocity
• Acceleration

Cylindrical components
• Position
• Velocity
• Acceleration

Jacobian

Jacobian

Equilibrium
• In dynamics, equilibrium is the absence of acceleration, not the absence of motion.
Vector approach: In the Newtonian view of dynamics, changes of velocity or acceleration are produced by a
vector quantity that we call force.
Scalar approach: work-energy approach can be quite useful in solving many practical problems of both an
equilibrium nature (the method of virtual work) and a dynamic nature (Lagrange's equation and the method
of virtual power).

virtual work
virtual work are most useful in problems in which there are workless constraints.
applied forces
virtual displacement
constraint force
The virtual displacement, is consistent with the constraints ֞ 𝛿𝒓 ∙ 𝒏 = 0

If there is no sticking and no friction between the particle and the surface, we can write ֞ 𝑭𝑪 = 𝐹 𝐶 𝒏 ∙
֜𝑭𝑪 ∙ 𝛿𝒓 = 0

Virtual Work
applied forces
virtual displacement
constraint force
𝑭𝑪 ∙ 𝛿𝒓 = 0
vector form of equilibrium is σ𝑖 𝑭𝑪𝒊 + 𝑭𝒂𝒊 = 0 ֜ σ𝑖 𝑭𝒂𝒊 ∙ 𝛿𝒓 = 0
Since 𝛿𝒓 is arbitrary, it can be resolved into independent variations
֜ … ֜
J is the Jacobian matrix.

Systems Of Particles
The total mass
Using the first moment of mass, we find the center
are relative position vectors whose first moment of mass

is zero
Linear Momentum

Angular Momentum
The linear momentum is defined with respect to a given reference
frame. The angular momentum is the first moment of linear momentum
with respect to a particular point.
About the origin.
About the center of mass.

Laws of Linear and Angular Momentum
• The forces applied to each mass from outside the system 𝑭𝑖 .
• The internal forces act between pairs of masses 𝒇𝑖𝑗 for 𝑖 ≠ 𝑗.
Newton's law of action and reaction (3rd law):
Newton's 2nd law on particle i:
If we sum these equations of motion
This result tells us that in order to apply Newton's law to an

extended body of particles, we must use the acceleration of
the center of mass and the sum of all the external forces.

Laws of Linear and Angular Momentum
The first moment of gives:
on the left-hand side we can take the time derivative outside

the summation

on the right-hand side
If we assume that the internal forces are central (they are directed
along the line between the masses) the total moment of the internal
forces is zero
where the moment of the external forces M
The strong form of the third law
Don’t confuse between total Mass (M) and force Moment (M)
The weak form of the third law
When the internal forces are not central ( like in some classic force
laws in electromagnetics)
≠0
Taking
and

Energy Principle
Kinetic Energy The energy associated with motion

The equations of motion
can be put into the form of an energy principle:
This means that the rate of change of kinetic energy of the

system is equal to the power of the external and internal forces.

Kinetic Energy could be calculated also from:
(K<3N)

Potential Energy: Conservative forces could be written as
Where
For a system of particles, power is written as

Conservation-of-Energy Principle
• If the system is a rigid body, then we can show that the right-
hand side is zero.
• If the system is non-dissipative and the internal forces can also
be derived from a potential energy 𝑉𝑒 , representing elastic
deformations.

Conservation Laws: There are three fundamental conservation laws for
the dynamics of a system of particles.
• Conservation of Linear Momentum
• Conservation of Angular Momentum
• Conservation of Energy

Rigid Body
Matrix Representation of the Rotation Rate Vector
is a constant-length vector since the body is rigid.
Where 𝝎 is the rotation rate vector.
ഥ
In a matrix form we can define 𝝎

Rigid Body
Angular Momentum and Moments of Inertia
we can write the expression for the angular momentum separating
the mass-distribution measures from the kinematic variables.
Pure rotation about a fixed point:
Triple cross product:
Where
Is a sympatric matrix

Rigid Body
The Moments of Inertia
The moment of inertia about the x-axis (also called the second moment of mass).
The cross product of inertia.

Rigid Body
The Moments of Inertia about Principal Axis

D’Alembert’s Principle
• The extension of the principle of virtual work to dynamical problems.
Virtual work:
In D’Alembert’s method the inertia term -ma is treated as an effective force:
are the directions in which the forces of constraint will drop out.

D’Alembert’s Principle
• When the movement is
constrained by a surface
the projection directions 𝜷𝒊
are given by the Jacobian:
𝜷𝒊 = 𝛿𝒓
D’Alembert’s method can be directly applied to dynamic problems. It is also the basis for the derivation of
another method, namely, Lagrange’s equations.

The Principle Of Virtual Power
• The second method of choosing independent projection directions 𝜷𝒊
is based on the power.
This method has advantages over the D’Alembert method when the constraints depend on velocities as well as
the position variables.
When all constraints are holonomic constraints (when the constraints in the problem are purely geometric with
no velocity dependence) the two methods are essentially the same because:

Problem 1
A particle moves on a helical path on a cylinder of radius R and helical
angle 𝛼. Derive the Jacobian for the vector velocity 𝒗 in terms of the
angular rate about helical axis 𝜃.ሶ

Problem 1
Since 𝜃 is the only independent parameter that could determine the
position of the particle on the helical trajectory, then we can write
the velocity as: c
𝒗 = 𝐽 𝜃ሶ
𝑑𝒓
We know that 𝒗 =
𝑑𝑡 𝑥 𝑅 cos 𝜃
𝒓= 𝑦 = 𝑅 sin 𝜃
𝑧 −𝑅 𝜃 tan 𝛼
is the position of a particle on a helical profile of Radius 𝑅 and slope 𝛼

(Pitch = 𝑅 𝜃 tan 𝛼)
𝑑𝒓
−𝑅 𝜃ሶ sin 𝜃 −𝑅 sin 𝜃
𝒗 = = 𝑅𝜃ሶ cos 𝜃 = 𝑅 cos 𝜃 𝜃ሶ
𝑑𝑡
−𝑅 𝜃ሶ tan 𝛼 −𝑅 tan 𝛼
−𝑅 sin 𝜃
𝐽 = 𝑅 cos 𝜃
−𝑅 tan 𝛼
Problem 2
Consider the particle constrained to move on a circular path in a
vertical plane. Assume that gravity acts on the mass in the
negative vertical direction and a constant force 𝐹𝑜 acts in the
horizontal x-direction. Use the polar coordinates 𝑧 = 𝑅 sin 𝜃,
𝑥 = 𝑅 cos 𝜃.
(a) Find the Jacobian matrix.
(b) Use the virtual work equilibrium condition to find the
equilibrium angle given by 𝜃 = tan−1 𝑚𝑔/ 𝐹𝑜 .

Problem 2
a) The motion is in the vertical plan, then the weight has an
influence on the motion.
𝑥 𝑅 cos 𝜃
𝒓= 𝑦 = 0
𝑧 𝑅 sin 𝜃
𝑑𝒓
𝑥ሶ −𝑅 𝜃ሶ sin 𝜃 −𝑅 sin 𝜃
𝒗= = 𝒚ሶ = 0 = 0 𝜃ሶ
𝑑𝑡
𝒛ሶ 𝑅 𝜃ሶ cos 𝜃 𝑅 cos 𝜃
𝒗 = 𝐽 𝜃ሶ
−𝑅 sin 𝜃
𝐽= 0
𝑅 cos 𝜃

Problem 2
b) Virtual work equilibrium:
𝑵
෍ 𝑭𝑎𝑖 𝑇 𝐶
𝐽 = 0 and 𝐽 𝐹 = 0
𝑖
We have one particle so 𝑖 = 1 only.
𝐹0
𝑭1𝑎 = 0
𝑚𝑔
−𝑅 sin 𝜃
𝑭1𝑎 𝐽 = 0 = 𝐹0 0 𝑚𝑔 ∙ 0 = −𝐹0 𝑅 sin 𝜃 + 𝑚𝑔𝑅 cos 𝜃 = 0 𝑚𝒈
𝑅 cos 𝜃
sin 𝜃 𝑚𝑔𝑅 𝑚𝑔 −1
𝑚𝑔
𝑚𝑔𝑅 cos 𝜃 = 𝐹0 𝑅 sin 𝜃 ֞ tan 𝜃 = = = ֞ 𝜃 = tan
cos 𝜃 𝐹0 𝑅 𝐹0 𝐹0

Problem 3
Four mass particles of masses {m, m, m, 2m} are located,
respectively, as follows: (1) at the origin; (2) along the x-axis at
x = a, (3) along the yaxis at y = b; and (4) at the position, x = a,
y = b, z = e.
• Find the center-of-mass vector.
• Find the positions of each particle 𝝆𝒊 relative to the center
of mass.
• Suppose each of the masses has a gravity force acting on
them in the negative z-direction. Calculate the moment
vector of the mass system about the origin.
• What is the component of the moment about the z-axis?
• Find the moment of inertia matrix with respect to the origin.

Problem 3
a)
𝑚1 = 𝑚 𝑚2 = 𝑚 𝑚3 = 𝑚 𝑚4 = 2𝑚
0 𝑎 0 𝑎
𝑟1 = 0 𝑟2 = 0 𝑟3 = 𝑏 𝑟4 = 𝑏
0 0 0 𝑒
𝒓𝐶 = 1/𝑀 ෍ 𝒓𝑖 𝑚𝑖
𝑖
𝑀 = ෍ 𝑚𝑖 = 𝑚 + 𝑚 + 𝑚 + 2𝑚 = 5𝑚
𝑖
0 𝑎 0 𝑎 3𝑎/5
𝒓𝐶 = 1/5𝑚 𝑚 0 + 𝑚 0 + 𝑚 𝑏 + 2𝑚 𝑏 = 3𝑏/5
0 0 0 𝑒 2𝑒/5

Problem 3
b)
𝝆𝑖 = 𝒓𝑖 − 𝒓𝐶
0 3𝑎/5 −3𝑎/5
𝝆1 = 0 − 3𝑏/5 = −3𝑏/5
0 2𝑒/5 −2𝑒/5
𝑎 3𝑎/5 2𝑎/5
𝝆2 = 0 − 3𝑏/5 = −3𝑏/5
0 2𝑒/5 −2𝑒/5
0 3𝑎/5 −3𝑎/5
𝝆3 = 𝑏 − 3𝑏/5 = 2𝑏/5
0 2𝑒/5 −2𝑒/5
𝑎 3𝑎/5 2𝑎/5
𝝆4 = 𝑏 − 3𝑏/5 = 2𝑏/5
𝑒 2𝑒/5 3𝑒/5

Problem 3
c) The moment about the origin:
0 0
𝐌 = ෍ 𝒓𝑖 × 𝑭𝑖 𝑭1 = 𝑭2 = 𝑭3 = 0 𝑭4 = 0
𝑖 −𝑚𝑔 −2𝑚𝑔
0 0 0 𝑎 0 0
𝒓1 × 𝑭1 = 0 × 0 = 0 𝒓2 × 𝑭2 = 0 × 0 = 𝑎𝑚𝑔
0 −𝑚𝑔 0 0 −𝑚𝑔 0
0 0 −𝑏𝑚𝑔 𝑎 0 −2𝑏𝑚𝑔
𝒓3 × 𝑭3 = 𝑏 × 0 = 0 𝒓4 × 𝑭4 = 𝑏 × 0 = 2𝑎𝑚𝑔
0 −𝑚𝑔 0 𝑒 −2𝑚𝑔 0
0 0 −𝑏𝑚𝑔 −2𝑏𝑚𝑔 −3𝑏𝑚𝑔
𝐌 = ෍ 𝒓𝑖 × 𝑭𝑖 = 0 + 𝑎𝑚𝑔 + 0 + 2𝑎𝑚𝑔 = 3𝑎𝑚𝑔
𝑖 0 0 0 0 0
d) No moment about Z.

Problem 3
e) The moment of Inertia about the origin:
I𝑘𝑗 = ෍ 𝑚𝑖 𝛿𝑘𝑗 𝒓𝑖 2 − 𝒓𝑖 ∙ 𝒆𝑘 𝒓𝑖 ∙ 𝒆𝑗
𝑖
𝛿𝑘𝑗 is the value of the 3x3 identity matrix at row 𝑘 and column 𝑗.
It is 1 if 𝑘 = 𝑗 and 0 if 𝑘 ≠ 𝑗.
1 0 0 1 0 0
𝒆1 = 0 𝒆2 = 1 𝒆3 = 0 𝛿𝑘𝑗 = 0 1 0
0 0 1 0 0 1
2 𝑎 2 𝑎 𝑎
1 1 0 0 1 0 1 1 1
I11 = ෍ 𝑚𝑖 1𝒓𝑖 2 − 𝒓𝑖 ∙ 0 𝒓𝑖 ∙ 0 =m 1 0 − 0 ∙ 0 0 ∙ 0 +m 1 0 − 0 ∙ 0 0 ∙ 0
𝑖 0 0 0 0 0 0 0 0 0 0 0 0
2 𝑎 2 𝑎 𝑎
0 0 1 0 1 1 1
+m 1 𝑏 − 𝑏 ∙ 0 𝑏 ∙ 0 + 2m 1 0 − 𝑏 ∙ 0 𝑏 ∙ 0
0 0 0 0 0 0 𝑒 0 𝑒 0
= 0 + 𝑚( 𝑎2 − 𝑎𝑎) + 𝑚( 𝑏 2 − 0) + 2𝑚( 𝑎2 − 𝑎𝑎) = 0 + 0 + 𝑚𝑏 2 + 0 = 𝑚𝑏 2

Problem 3
e) The moment of Inertia about the origin:
I𝑘𝑗 = ෍ 𝑚𝑖 𝛿𝑘𝑗 𝒓𝑖 2 − 𝒓𝑖 ∙ 𝒆𝑘 𝒓𝑖 ∙ 𝒆𝑗
𝑖
𝛿𝑘𝑗 is the value of the 3x3 identity matrix at row 𝑘 and column 𝑗.
It is 1 if 𝑘 = 𝑗 and 0 if 𝑘 ≠ 𝑗.
1 0 0 1 0 0
𝒆1 = 0 𝒆2 = 1 𝒆3 = 0 𝛿𝑘𝑗 = 0 1 0
0 0 1 0 0 1
2 𝑎 2 𝑎 𝑎
1 0 0 0 1 0 0 1 0
I12 = ෍ 𝑚𝑖 0𝒓𝑖 2 − 𝒓𝑖 ∙ 0 𝒓𝑖 ∙ 1 =m 0 0 − 0 ∙ 0 0 ∙ 1 +m 0 0 − 0 ∙ 0 0 ∙ 1
𝑖 0 0 0 0 0 0 0 0 0 0 0 0
2 𝑎 2 𝑎 𝑎
0 0 1 0 0 1 0
+m 0 𝑏 − 𝑏 ∙ 0 𝑏 ∙ 1 + 2m 0 0 − 𝑏 ∙ 0 𝑏 ∙ 1
0 0 0 0 0 0 𝑒 0 𝑒 0
= 0 + 𝑚( 0 − 𝑎 0) + 𝑚( 0 − 0 𝑏) + 2𝑚( 0 − 𝑎 𝑏) = 0 + 0 + 0 − 2𝑚𝑎𝑏 = −2𝑚𝑎𝑏 = I12 = I21 (I is Symmetric)

Problem 4
Suppose a rigid rectangular body is oriented with
respect to a rectangular coordinate system such
that one vertex is at the origin and three others
are at [A,0,0], [0,B,0], [0,0,C]. Assume that the
body rotates about an axis that goes through the
origin and the vertex [A,B,C].Find the matrix
representation of the angular velocity 𝝎.

Problem 4
𝑟Ԧ 𝐴𝜔Ԧ𝑖 + 𝐵𝜔Ԧ𝑗 + 𝐶𝜔𝑘
𝜔 =𝜔∙𝑢 =𝜔∙ =
𝑟 𝐴2 + 𝐵 2 + 𝐶 2
𝐴𝜔
𝐴2 + 𝐵 2 + 𝐶 2
𝐵𝜔
𝜔=
𝐴2 + 𝐵 2 + 𝐶 2
𝐶𝜔
𝐴2 + 𝐵 2 + 𝐶 2
𝐶𝜔 𝐵𝜔
0 −
𝐴2 + 𝐵 2 + 𝐶 2 𝐴2 + 𝐵 2 + 𝐶 2
0 −𝜔3 𝜔2 𝐶𝜔 𝐴𝜔
ഥ = 𝜔3
𝜔 0 −𝜔1 = 0 −
−𝜔2 𝜔1 0 𝐴2 + 𝐵2+ 𝐶2 𝐴2 + 𝐵 2 + 𝐶 2
𝐵𝜔 𝐴𝜔
− 0
𝐴2 + 𝐵2 + 𝐶2 𝐴2 + 𝐵2 + 𝐶2

Problem 5
Two equal masses rigidly connected by a link of
length L move in a plane. One mass is constrained to
move in the horizontal direction located at r = [x(t),
0, 0] 𝑇 . The angular position of the second mass
with respect to the vertical is 𝜃 (t). Choose
generalized coordinates 𝑞1 = x(t), 𝑞2 = 𝜃(t) and show
that the Jacobian matrix can be calculated in two
ways.

Problem 5 m2
𝑥ሶ
First Method: 𝒗𝑐 = 𝐽
𝜃ሶ
𝑑𝒓𝑐 𝑥ሶ
𝒗𝑐 = = 𝑦ሶ
𝑑𝑡
𝑧ሶ
1
𝑥 𝑥 + 𝐿 sin 𝜃 (2𝑥 + 𝐿 sin 𝜃)
1 2 C
𝒓𝑐 = 𝑚 0 +𝑚 𝐿 cos 𝜃 = 1
2m 0 (𝐿 cos 𝜃)
0 2
1 0
𝑥ሶ + (𝐿𝜃ሶ cos 𝜃)
𝑑𝒓𝑐 2 m1
𝒗𝑐 = = 1
𝑑𝑡 − (𝐿𝜃ሶ sin 𝜃)
2
0
1
1 1 1(𝐿 cos 𝜃)
𝑥ሶ + (𝐿𝜃ሶ cos 𝜃) 1 (𝐿 cos 𝜃) 2
2 2 𝑥ሶ 𝐽= 1
1 = 1 0 − (𝐿 sin 𝜃)
− (𝐿𝜃ሶ sin 𝜃) 0 − (𝐿 sin 𝜃) 𝜃ሶ 2
2 2 0 0
0 0 0
Problem 5
Second Method:
1 0 0 𝑥 𝐿/2
0 1 0 0 0 C
𝑇01 = 𝒓2𝐶 =
0 0 1 0 0
0 0 0 1 1
cos 𝜃 − sin 𝜃 0 0
sin 𝜃 cos 𝜃 0 0
𝑇12 =
0 0 1 0 cos 𝜃 − sin 𝜃 0 𝑥 𝐿/2
0 0 0 1 sin 𝜃 cos 𝜃 0 0 0
𝒓0𝐶 =
1 0 0 𝑥 cos 𝜃 − sin 𝜃 0 0 cos 𝜃 − sin 𝜃 0 𝑥 0 0 1 0 0
0 1 0 0 sin 𝜃 cos 𝜃 0 0 sin 𝜃 cos 𝜃 0 0 0 0 0 1 1
𝑇02 = =
0 0 1 0 0 0 1 0 0 0 1 0 1
0 0 0 1 0 0 0 1 0 0 0 1 (2𝑥 + 𝐿 sin 𝜃)
2
𝒓0𝐶 = 1
(𝐿 cos 𝜃)
2
4/28/2020 Dr. Hassan Diab – MTE 500– Spring 2019/2020 0 57
Problem 5
1
(2𝑥 + 𝐿 sin 𝜃)
2
𝒓0𝐶 = 1
(𝐿 cos 𝜃) C
2
0
𝜕𝑥𝑐 𝜕𝑥𝑐
1
𝜕𝑥 𝜕𝜃 1 𝐿 cos 𝜃
𝜕𝑦𝑐 𝜕𝑦𝑐 2
𝐽= = 1
𝜕𝑥 𝜕𝜃 0 − sin 𝜃
𝜕𝑧𝑐 𝜕𝑧𝑐 2
0 0
𝜕𝑥 𝜕𝜃

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Analytical and Adaptive Dynamics in

Dr. Hassan Diab

4/28/2020 Dr. Hassan Diab – MTE 500– Spring 2019/2020 2

4/28/2020 Dr. Hassan Diab – MTE 500– Spring 2019/2020 3

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• Solving the Eigenvalue problem will result

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When the angle is small:

The solution is: Where

The natural frequency is:

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When the angle is small:

The solution is: Where

The natural frequency is:

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When damping and forcing are zeros The solution is:

When damping is small

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When damping and forcing are zeros The solution is:

When damping is small

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The rotation vector is:

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𝒅𝒆𝒙 = 𝒆𝒙 𝒅ψ 𝒆𝒚 = 𝒅ψ 𝒆𝒚 𝒅𝒆𝒚 = 𝒆𝒚 𝒅ψ − 𝒆𝒙 = −𝒅ψ 𝒆𝒙

𝒆𝒙ሶ = ψሶ 𝒆𝒚 𝒆𝒚ሶ = −ψሶ 𝒆𝒙

The rotation vector is:

The moment must have a y component

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The virtual displacement, is consistent with the constraints ֞ 𝛿𝒓 ∙ 𝒏 = 0

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vector form of equilibrium is σ𝑖 𝑭𝑪𝒊 + 𝑭𝒂𝒊 = 0 ֜ σ𝑖 𝑭𝒂𝒊 ∙ 𝛿𝒓 = 0

Since 𝛿𝒓 is arbitrary, it can be resolved into independent variations

J is the Jacobian matrix.

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Using the first moment of mass, we find the center

are relative position vectors whose first moment of mass

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About the origin.

About the center of mass.

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Newton's 2nd law on particle i:

If we sum these equations of motion

This result tells us that in order to apply Newton's law to an

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The first moment of gives:

on the left-hand side we can take the time derivative outside

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on the right-hand side

where the moment of the external forces M

The strong form of the third law

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Kinetic Energy The energy associated with motion

can be put into the form of an energy principle:

This means that the rate of change of kinetic energy of the