By Donald T. Greenwood

Emphasizing studying via challenge fixing, Donald Greenwood analyzes intimately the strengths and weaknesses of varied methods to dynamics. He describes ideas that might enhance computational potency significantly, particularly whilst utilized to complicated dynamical platforms. A key characteristic of his textual content is the inclusion of many confirmed examples and homework difficulties. The ebook is meant to be used in graduate classes on dynamics and should entice training mechanical and aerospace engineers.

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224). 234) Note that these coefﬁcients are vector quantities. 236) j=1 We see that γ i j represents the sensitivity of the velocity vi to changes in q˙ i , whereas γ it is equal to the velocity vi when all qs are held constant. 237) i=1 The virtual work δW due to the forces Fi acting on the system is obtained by setting dt = 0 and replacing the actual displacements dri by virtual displacements δri . 229). But, if the system is holonomic, it is particularly convenient to choose independent δqs. The question arises concerning why the virtual work δW receives so much attention in dynamical theory rather than the work d W of the actual motion.

This is the necessary condition. Now suppose that the system is not in static equilibrium, implying that Fi + Ri = 0 for at least one particle. 254) i=1 since sufﬁcient degrees of freedom remain. 252) we conclude that a virtual displacement can always be found that results in δW = 0 if the system is not in static equilibrium. Thus, if δW = 0 for all possible δrs, the system must be in static equilibrium; this is the sufﬁcient condition. We have assumed a catastatic system. It is possible that a particular system that is not catastatic could, nevertheless, have a position of static equilibrium if a jt and ∂ xk /∂t are not both identically zero, but are equal to zero at the position of static equilibrium.

12 Two particles, each of mass m are connected by a rigid massless rod of length l to form a dumbbell that can move in the x y-plane. The position of the ﬁrst particle is (x, y) and the direction of the second particle relative to the ﬁrst is given by the angle θ (Fig. 22). We wish to ﬁnd the kinetic energy and the generalized momenta. 22. 295) where m is the total mass. 300) These are the x and y components of the total linear momentum. 301) This is equal to absolute angular momentum about P, that is, ml times the velocity component of particle 2 which is perpendicular to the rod.