Introduction

Lecture #01
 About me
 Teaching specialist at the Department of Mechanical Engineering.
 Graduated in Physics, with teaching specialization.
 Prior experience: research and teaching positions in Brazil, Spain, France
and Switzerland, with focus on Solid State Physics and Synchrotron
radiation.
 Outline
• General information
• Technical
• Tutors and consultation
• Assessment
• Schedule
• Rules
• Subject overview
 General information
 Canvas LMS
• There is an App.
• Set up personal notifications to receive them, otherwise you might miss
important information.
• There is a calendar associated with the course.
• We will use Ed Discussion for discussions
 Lecture Capture
• Lecture recordings will be available.
 General information
 Lectures on campus only
 Tutorials
• Try to read the problems in advance.
• Come prepared to actively work.
• Bring your computer, MATLAB will often be a useful tool to use.
• Not recorded
 General information
 No book is being followed.
 Book recommendations for extra reading/understanding
• Dynamics of Multibody Systems, Shabana Wiley
• Engineering Dynamics, Ginsberg, Cambridge
• Vector Mechanics for Engineering Dynamics, Beer & Johnson, McGraw-
Hill
• Engineering Mechanics: Dynamics, Meriam & Kraige, Wiley
• Engineering Mechanics Dynamics, Hibbeler, Pearson
 General information
 Consultation hours
• Time, location to be defined
• Note: after the main exam, all consultations cease.
 Other help to be used:
• Ed Discussion board
• During tutorials and lectures.
 Assignments and exam
 Assignments
• The submission deadline is very strict – even 1 s is considered late.
• Submission extension can only be granted according to department
policy. It should be requested 24h before the deadline and supported by
documents.
 Final exam
• Hurdle: you must pass the exam. If you fail the exam but weighted total
grade is above 49, your mark will show as 49 NH (no hurdle).
Assessment
 Spectrum of academic misconduct
Open-book exams

Recycle your
POOR PRACTISE

own work
Paraphrasing

DELIBERATE
too similar Selling, borrowing Buying, stealing
or sharing your or borrowing
work other’s work
Copy without
referencing

Referencing Working together to Pay someone to

incorrectly complete individual task do your work

adapted from ANU (2020, Aug 26). Collusion.

https://www.anu.edu.au/students/academic-skills/academic-integrity/plagiarism/collusion
 Academic integrity
 Any similarity detected between your answers, the answers from other
students and/or from the internet or other sources will be investigated and
may result in severe penalties.
 Penalties if you are found guilty of academic misconduct can range from a
0 for a specific question in the assessment up to 0 for the subject, or even
suspension or termination from the University
Subject overview
 Subject overview
Knowing (rigid body) Dynamics is critical if you want to:
 Predict the motion of rigid bodies in space when they are subject to the
application of forces and moments
 Analyse the forces and moments acting on a rigid body based on its
motion.
 Control a dynamics system to do what you want it to
 Design your super-cool robot to play tennis with you (and predict what
happens as a result of a collision).
 Newton-Euler
Subject overview Equations of
motion
Kinetics/
Newton’s second law: 𝐹𝐹 = 𝑚𝑚𝑚𝑚 Kinematics
dynamics

 For a particle: ∑ 𝑭𝑭 = 𝑚𝑚𝒂𝒂

 For a rigid body:
𝑑𝑑𝒑𝒑 𝑑𝑑 𝑑𝑑
� 𝑭𝑭 = 𝒑𝒑̇ = = 𝑚𝑚𝒗𝒗𝐺𝐺 = 𝑚𝑚𝒓𝒓̇ 𝐺𝐺
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑑𝑑𝒉𝒉𝐺𝐺 𝑑𝑑 𝐺𝐺
� 𝑴𝑴 = 𝒉𝒉̇ =
𝐺𝐺 𝐺𝐺 = 𝐈𝐈 𝝎𝝎
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
 Subject overview

Kinematics Kinetics of Newton- Collision

of rigid rigid Euler of rigid
bodies bodies equations bodies
 Kinematics of rigid bodies
Mathematically defining vector geometry to describe physics.
• Right-hand rule.
• Coordinate systems (frames) in various orientations.
• Rotation matrices.
Kinematics
• Positions vectors.
of rigid • Angular velocity.
bodies • Derivative of a vector in rotating coordinate systems.
• Linear velocity, linear acceleration, angular acceleration.
• Joints, constraints and degrees of freedom.
• Centre of mass
 Subject overview

Kinematics Kinetics of Newton- Collision

of rigid rigid Euler of rigid
bodies bodies equations bodies
 Kinetics of rigid bodies
Force-Momentum relationships
• Linear momentum and the resultant force.
• Angular momentum and the resultant moment.
• Constraint forces and moments.
Kinetics of
• Inertia tensor.
rigid • Parallel axes theorem
bodies • Principal axes
• Free body diagrams
 Subject overview

Kinematics Kinetics of Newton- Collision

of rigid rigid Euler of rigid
bodies bodies equations bodies
 Newton-Euler equations
• Formulation of Newton-Euler equations
• Equations of motion
• Numerical solutions to equations of motion and animation
using MATLAB
Newton- • Gyroscopic motion – Lab work.
Euler
equations
 Subject overview

Kinematics Kinetics of Newton- Collision

of rigid rigid Euler of rigid
bodies bodies equations bodies
 Collision of rigid bodies
• Impulse-momentum principle.
• Particle collisions
• Coefficient of restitution.
• Unconstrained rigid body collisions
Collision of
• Constrained rigid body collisions
rigid • Post-collision scenarios
bodies • Hybrid motion simulation in MATLAB