Table of

Contents

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Presentation

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 CHAPTER 1:
KINEMATICS OF A PARTICLE
1.1 Introduction
1.2 Rectilinear motion of a Particle: Single
Degree of Freedom
1.3 Classification of Kinematics
Problems
1.4 The Inverse Dynamics Problem
1.5 The Direct Dynamics Problem:
Rectilinear Motion When the Acceleration
is Given

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 CHAPTER 1:
KINEMATICS OF A PARTICLE
1.5.1 Classification of Differential Equations
1.5.2 Separable First-Order Scalar Differential
Equations
1.5.3 Special Rectilinear Motions
1.5.4 Solution of Linear First-Order Differential
Equation by Use of an Integrating Factor
1.5.5 Second-Order Linear Differential Equations
1.5.6 Numerical Solution of Differential
Equations

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 CHAPTER 1:
KINEMATICS OF A PARTICLE
1.6 Curvilinear Motion of a Particle
1.6.1 Vector Differential Equation
1.6.2 Projectile Motion
1.7 Normal and Tangential Coordinates
1.7.1 Circular Motion
1.7.2 Normal and Tangential
Coordinates in Three Dimensions

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 CHAPTER 1:
KINEMATICS OF A PARTICLE
1.8 Radial and Transverse Coordinates
(Polar Coordinates)
1.9 Three-Dimensional Coordinate Systems:
Cylindrical and Spherical Coordinates
1.10 Relative Rectilinear Motion of Several
Particles
1.11 General Relative Motion Between
Particles

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 CHAPTER 1:
KINEMATICS OF A PARTICLE
1.12 Dependent Motions Between Two or
More Particles
1.13 Parametric Equations in Kinematics
1.13.1 Trajectories Expressed as Function
of Parameter s
1.13.2 Parametric Equations for Three-
Dimensional Trajectories

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CHAPTER 2:
KINETICS OF A PARTICLE
2.1 Introduction
2.1.1 Equations of Motion for a Particle
2.2 Solution Strategy for Particle Dynamics
2.2.1 Review of the Concepts of Static and
Kinetic Friction
2.2.2 Alternative Selection of Coordinate
System
2.2.3 Determination of the Direction of the
Normal and Friction Forces

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CHAPTER 2:
KINETICS OF A PARTICLE
2.3 Discontinuity and Singularity Functions
2.4 Special Problem
2.5 Normal and Tangential Coordinates
2.6 Two-Dimensional Parametric Equation
of Dynamics
2.7 Polar Coordinates
2.7.1 Angular Momentum of a Particle
2.7.2 Central-Force Motion

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CHAPTER 2:
KINETICS OF A PARTICLE
2.8 Three-Dimensional Particle Dynamics
in Curvilinear Coordinates
2.8.1 Cylindrical Coordinates
2.8.2 Spherical Coordinates
2.8.3 Parametric Equations in Tangential,
Normal and Binormal Coordinates
2.9 Detection of Modeling and Constraint
Errors in Complex Particle Dynamics
Problems
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CHAPTER 3: WORK–ENERGY AND
IMPULSE–MOMENTUM
FIRST INTEGRALS OF MOTION
3.1 Introduction
3.2 Power, Work, and Energy
3.2.1 Work of a Spring Force
3.2.2 Work of the Gravitational
Attraction Force Between Two Masses
3.2.3 Power and Efficiency
3.3 Conservative Forces and Potential
Energy

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CHAPTER 3: WORK–ENERGY AND
IMPULSE–MOMENTUM
FIRST INTEGRALS OF MOTION
3.4 Conservation of Energy
3.5 Principle of Impulse and Momentum
3.5.1 Impulse and Momentum of Several
Particles
3.6 Impact
3.6.1 Direct Central Impact
3.6.2 Oblique Central Impact
3.6.3 Impact with a Stationary Object
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CHAPTER 4:
SYSTEM OF PARTICLES
4.1 Introduction
4.2 General Equations for a System of
Particles
4.3 Center of Mass of a System of
Particles
4.4 Kinetic Energy of a System of Particles

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CHAPTER 4:
SYSTEM OF PARTICLES
4.5 Work-Energy and Conservation of
Energy of a System of Particles
4.6 Impulse and Momentum of a System
of Particles
4.7 Mass Flows
4.7.1 Steady Mass Flow
4.7.2 Variable Mass Flow

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CHAPTER 5:
KINEMATICS OF RIGID BODIES
5.1 Introduction
5.2 Translation of a Rigid Body
5.3 Rotation About a Fixed Axis
5.4 Planar Pure Rotation About an Axis
Perpendicular to the Plane of Motion
5.4.1 Vector Relations for a Rotation in a Plane
5.4.2 Direct Vector Solution for Angular
Velocity and Angular Acceleration

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CHAPTER 5:
KINEMATICS OF RIGID BODIES
5.4.3 Constraints to the Motion
5.5 General Plane Motion
5.5.1 Absolute and Relative Velocities in
Plane Motion of a Rigid Body
5.5.2 Experimental Motion Data
5.5.3 Direct Vector Method to Obtain the
Angular Velocity
5.6 Instantaneous Center of Rotation in
Plane Motion
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CHAPTER 5:
KINEMATICS OF RIGID BODIES
5.7 Instantaneous Center of Rotation
Between Two Rigid Bodies
5.8 Absolute and Relative Acceleration of
a Rigid Body in Plane Motion
5.9 Kinematics of System of Rigid Bodies
5.10 Analysis of Plane Motion in Terms of a
Parameter

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CHAPTER 5:
KINEMATICS OF RIGID BODIES
5.11 General Three-Dimensional Motion of a
Rigid Body
5.11.1 Linear and Angular Acceleration
5.11.2 Constraints to the General Three-
Dimensional Motion of a Rigid Body
5.11.3 Rigid Body with a Fixed Point in
Space
5.11.4 Other Constraints

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CHAPTER 5:
KINEMATICS OF RIGID BODIES
5.12 Instantaneous Helical Axis, or Screw Axis
5.12.1 Motion of a Rigid Body Having a
Fixed Point in Space
5.13 Instantaneous Helical Axis of Rotation
Between Two Rigid Bodies
5.14 Motion with Respect to a Rotating
Reference Frame or Coordinate System
5.14.1 Sliding Contact

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CHAPTER 6: DYNAMICS OF RIGID
BODIES IN PLANE MOTION
6.1 Introduction
6.2 Linear and Angular Momentum
6.2.1 Angular Momentum About a Fixed
Point on a Rigid Body
6.3 Equations of Motion for Rigid Bodies
in Plane Motion
6.4 Constraints on the Motion
6.4.1 Rolling Without Sliding
6.4.2 Rolling and Sliding

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CHAPTER 6: DYNAMICS OF RIGID
BODIES IN PLANE MOTION
6.5 Computation methods for Plane
Dynamic Systems
6.6 Systems of Rigid Bodies or Particles
6.7 D’Alembert’s Principle

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CHAPTER 7: POWER, WORK, ENERGY,
IMPULSE, AND MOMENTUM OF A
RIGID BODY
7.1 Power, Work, and Energy of a Rigid Body
7.1.1 Work Done by a Couple
7.2 Systems of Rigid Bodies and Particles
7.3 Conservation of Energy
7.4 Impulse and Momentum
7.5 Eccentric Impact on a Single Rigid Body
7.6 Eccentric Impact

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CHAPTER 8: THREE-DIMENSIONAL
DYNAMICS OF RIGID BODIES
8.1 Introduction
8.2 Rotational Transformation Between
Coordinate Systems
8.2.1 Coordinate Transformations
8.3 Eulerian Angles
8.3.1 Precession of the Equinoxes
8.4 Angular Motion
8.5 Joint Coordination System
8.6 Equations of Motion

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CHAPTER 8: THREE-DIMENSIONAL
DYNAMICS OF RIGID BODIES
8.7 Euler’s Equations of Motion
8.7.1 Stability of Rotation About a Principal Axis
8.7.2 Motion of an Axisymmetric Object
8.7.3 Heavy Axisymmetric Top
8.7.4 Gyroscopic Motion with Steady
Precession
8.7.5 Motion of an Axisymmetric Body
Subjected to No External Forces
8.7.6 The Gyroscope

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CHAPTER 9: VIBRATION
9.1 Introduction
9.2 Undamped Single-Degree-of-Freedom
Systems
9.2.1 Linear Vibration
9.2.2 Nonlinear Vibration
9.3 Damped Single-Degree-of-Freedom
Systems
9.3.1 Linear Damping
9.3.2 Nonlinear Damping

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CHAPTER 9: VIBRATION
9.4 Forced Response and Resonance
9.4.1 Harmonic Excitation of Linear
Systems
9.4.2 General Forced Response
9.4.3 Forced Response of Nonlinear
Systems

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