Chapter 1

Dr. Ginsberg begins with a review of vector math. We won't cover most of it
in lecture, but you need to make sure you understand it.

Notation

Fpso =
position of point P relative to
point O

tarot
Reminder : add

¥14
:
These
MP
a

¥0
raiotrpa
' '
A
)

(This absolute vi. will talk about

ddf@ Isb velocity is
. ←
velocities later )
=

Native .

tv no
"

with respect to
"

subscript ←
velocity is the same to all observers in

the fixed frame

ep
=
I =
fifo ← acceleration This
note
applies here too .

Newton's Laws
"

EFO J= Constant
"

D If then ←
objects in motion . . .

sj EF =
ME

"

Fb
"

3) =
E ,
c-
Equal but opposite

€
Nole :
I'M being sloppy with notation here .
Energy and Momentum
.

just integrals of Newton's 2° Law

Useful when how force varies with position (SFTFD is known

write the change in position of a particle as :

dF= Half
FC .
FG ) ←
current pos -
010 position ,

As at → 's → st → dt → AF →dF
( Undergrad cak .
trick to lean

integrals)

Now , dot this with Newton's 2W Law :

¢F=me ) .
DF → EFDF =
mcidr

EEdr=#d¥yfTdt)
=
tam ( ¥( T.it]dt
fod EFDF =
In (us rif .

Tooth integral

K¥44
If is defined as TIM ( T.it ) =
In (wD2
and the path Wads
integral as the are by the Force
,
then

fifth
Titw
W
, ⇒
= .dF and Ta=

Work Energy Principle

-
Linear Momentum

Direct integration of Newton's Vow →

Impulse Momentum Principle
.

ff
imayat 54¥Fdtyatsmedt MEAD # )
.

=m( JaA
.

)
Define Rmv as Lineament then

B. =P +
,
SHE Edt E- Impulse
. Momentum Principle

w
Impulse

Angular Momentum
Look at moment about fixed point 0 from a Force
acting Fowoy

Mj= Remember that these glib vectors

{ Fx{ F ← are

P:
¥
Ma = F×mdd¥
Plo

ftfqoxmDtdFFtYn@n.eoeotoanpen.aeformwngddTtotnnt-dFlFpoxmD-lu.xmuToEMo-ftfrpToxmD-Detir.AngemkmiErpToxmTshosEfTtDandHiIDa-tHD.t

IPE Modt ← Angular Impala .

W Momentum

Ansdojrmpdse Principle
Chapter 2 - Particle Kinematics

Path Variables (Sec 2.1)

Tangent and Normal Components (Sec. 2.1.1)
Tangent and Normal Components (cont.)

Review Sections 2. 1.2 and 2.1.3 on your own for now.

We may return to them later.
Rectangular Cartesian Coordinates (Sec 2.2)

Curvilinear Coordinates (Sec 2.3)

Cylindrical and Polar Coordinates (Sec. 2.3.1)

Cylindrical and Polar Coordinates (cont.)

Spherical Coordinates (Sec. 2.3.2)

Cylindrical and Polar Coordinates (cont.)

Spherical Coordinates (Sec. 2.3.2)

Mixed Kinematical Descriptions (Sec. 2.4)
Key point: It's best to use the coordinate system that most

"naturally" fits to system or subsystem.

Example 2.11
Chapter 3 - Relative Motion

Coordinate Transforms (Sec. 3.1)

Rotational Transformations (Sec. 3.1.1)

Rotation Sequences (Sec. 3.1.2)
Body-fixed Rotations
Body-fixed Rotations (cont.)
Space-fixed Rotations
Space-fixed Rotations
Space-fixed Rotations (cont.)
Displacement (Sec. 3.2)
Displacement (cont.)
Displacement (cont.)
Time Derivatives (Sec. 3.3)
Time Derivatives (cont.)
Example 3.6
Example 3.6 (cont.)
Angular Velocity and Acceleration (Sec. 3.4)
Procedure to Find Angular Velocity and Acceleration (Sec 3.4.2)
Example 3.9
Example 3.9 (cont.)
Velocity and Acceleration in Moving Frames (Sec. 3.5)
Velocity and Acceleration in Moving Frames (cont.)
A Simple (Planar) Example
Write the velocity and acceleration of the crane payload in terms of the fixed frame XYZ.
Example 3.11
Example 3.11 (cont.)
Example 3.11 (cont.)
Example 3.13
"Linking" Frames
Observations from Moving Frames (Sec. 3.6)
Chapter 4 - Kinematics of Constrained Rigid Bodies

Chasle's Theorem:
We can write the general motion of a rigid body by the translation of a
point (with constant orientation), then a pure rotation about that point.

Key: Which point we choose is arbitrary

Eulerian Angles (Sec. 4.1)
Describe the rotation of a body by a:

1. precession - about a fixed Z axis

2. nutation - about the precessed y-axis, typically written y'

3. spin - about the nutated z-axis, typically written z''

Eulerian Angles (cont.)
Interconnections and Linkages (Sec. 4.3)

Ball-and-socket Joints

Pin Connections
Interconnections and Linkages (cont.)
Collar/slider connections
Example 3.14
Example 3.14 (cont.)
Example 4.1
Example 4.2
Rolling (Sec. 4.4)

Rolling without Slipping

Rolling without Slipping along the Ground

Rolling (cont.)
Rolling Disc Example
Chapter 5 - Inertial Effects for a Rigid Body

Linear and Angular Momentum (Sec. 5.1)

Linear and Angular Momentum (cont.)
Rigid Body - Basic Equations (Sec. 5.1.2)
Kinetic Energy (Sec. 5.1.3)
Inertia Properties (Sec. 5.2)

Moments and Products of Inertia (Sec. 5.2.1)

Moments and Products of Inertia (cont.)

Transformations (Sec. 5.2.2)

Parallel Axis Theorem

Rotational Transformation

We'll skip Sections 5.2.3 and 5.2.4 in lecture. Please do read the and be
aware of their content.
Rate of Change of Angular Momentum (Sec. 5.3)
Example 5.1
Example 5.1 (cont.)
Chapter 6 - Newton-Euler Equations of Motion

Fundamental Equations (Sec. 6.1)

Fundamental Equations (cont.)
Steps to Forming (Newton-Euler) Equations of Motion (Sec 6.1.2)

1. Draw a Free Body Diagram for all bodies with significant mass. Be sure to include all
constraint forces.

2. Choose about which point to sum moments. It should be the COM or have zero
acceleration (pure rotation).

3. Attach a body-fixed frame to the body with origin at point A. Choose axes orientation to
make determining the inertia properties easy. It's good practice to include this coordinate
system on the FBD.

4. Write all known information (specified functions of time, etc) in equation form.

5. Determine the angular velocity and angular acceleration of the body in the body-fixed
frame. Be sure to include any/all kinematic constraints.

6. Determine the inertia properties with respect to the body-fixed frame.

7. Compute moment about point A and equate it to the total time derivative of the angular
momentum.

8. If needed, form the force equations about the body COM.

9. Check that the proper number of equations of motion resulted.

Example 6.1
Example 6.1 (cont.)
Planar Motion (Sec. 6.2)
Example 6.6
Example 6.6 (cont.)
Example 6.3
Newton-Euler Equations for a System (Sec. 6.3)

Momentum and Energy Principles (Sec. 6.4)

Impulse-Momentum Principles (Sec. 6.4.1)

Impulse-Momentum Principles (cont.)
Example 6.11
Chapter 7 - Introduction to Analytical Mechanics
Based in energy, rather than forces

Virtual Work (Sec. 7.1.1)

Principle of Virtual Work

Virtual Work (cont.)
Dynamic Virtual Work (Sec. 7.1.2)

Generalized Coordinates and Kinematics Constraints (Sec. 7.2)

Generalized coordinates - what is used to describe the orientation of the system?

Degrees-of-freedom - the minimum number of generalized coordinates to completely define the

position of the system

Constraint Equations (Sec. 7.2.2)
Holonomic vs nonholonomic constraints
Holonomic vs nonholonomic constraints (cont.)
Configuration Space (Sec. 7.2.3)

Evaluation of Virtual Displacements (Sec. 7.3)

Analytical Method (Sec. 7.3.1)

Kinematical Method (Sec. 7.3.2)

Example 7.5
Definition of Generalized Forces (Sec. 7.4.1)
Example 7.7
Example
A horizontal force F(t) is applied to the end of the compound pendulum whose pivot is given a
specified horizontal displacement x(t). Generalized coordinates are the absolute angle of rotation
θ1 for the upper bar and the relative angle θ2 for the lower arm. Determine the corresponding
generalized forces.
Conservative Forces (Sec. 7.4.3)
Lagrange's Equations (Sec. 7.5)
Example 7.13
Example 7.13 (cont.)
Example from MCHE485: Mechanical Vibrations
Example (cont.)
Problem 6.13
Determine the equations of motion of the compound pendulum in Example 6.7.

Example 6.7 - A horizontal force F(t) is applied to the end of the compound pendulum whose pivot
is given a specified horizontal displacement x(t). Generalized coordinates are the absolute angle of
rotation θ1 for the upper bar and the relative angle θ2 for the lower arm. Determine the
corresponding generalized forces.
Problem 6.21
The cylinder is unbalanced such that its center of mass G is situated at an eccentricity   from
the geometric center C. The centroidal moment of inertia of the cylinder is IC. Determine the
equation of motion for arbitrarily large movements.
Problem 6.31
The orientation of the homogeneous cylinder relative to the gimbal is described by the angle β. The
torque Γ is such that the rotation rate Ω of the gimbal about the horizontal axis is constant. The
gimbals have negligible mass. Derive the equation of motion for β.
Problem 6.37
The elevation of pin A is controlled by a force  applied to the vertical control rod in the flyball
speed governor. The system is made to precess at a constant rate Ω about the vertical axis
by a torque M. Determine the equation of motion governing θ. The mass of each sphere is m,
and the links have negligible mass.
Example
Linearization
*Lots* of controls and vibration analysis method depend on the sytsem being linear. No "real"
system is totally linear, but we systems are often "near" linear in certain operating conditions
and/or over small operating regimes. We can linearize a system about these points.

In many cases, it makes sense to linearize about an equilibrium position.

Q: How do we know what the equilibrium positions are?

One "trick" is to eliminate the "motion" variables (velocity and higher order derivatives) from

the equations of motion.

Problem 7.30
Problem 7.30 (cont.)
Problem 7.60
Problem 7.60 (cont.)
Problem 7.61