Rigid Body Dynamics of Mechanisms: 1 Theoretical Basis (Paperback)

1. Introduction.- 2. Planar and spatial vectors, matrices, and vector functions.- 3. Constraint equations and constraint reaction forces of mechanisms.- 4. Dynamics of planar and spatial rigid-body systems.- 5. Model equations of planar and spatial joints.- 6. Constitutive relations of planar and spatial external forces and torques.- A. Appendix.- A.1 Special vector and matrix operations used in mechanics.- A.1.1 Euclidean vector space.- A.1.2 Scalar product and cross product of planar vectors.- A.1.3 Cross product of spatial vectors.- A.1.4 Time derivatives of planar orientation matrices and of planar vectors in different frames.- A.1.5 Time derivatives of spatial orientation matrices and of spatial vectors in different frames.- A.1.6 Derivatives of vector functions.- A.2.1 Kinetic energy of an unconstrained rigid body.- A.2.3 Spatial equations of motion of a constrained rigid body.- A.4 Constraint equations of a general universal joint.- A.4.1 Notation and abbreviations.- A.4.2 Computation of constraint equations.- A.4.2.1 First constraint equation.- A.4.2.2 Second constraint equation.- A.4.2.3 Third constraint equation.- A.4.2.4 Fourth constraint equation.- A.4.3 Computation of the shortest distance between two rotation axes.- References.- List of figures.