Contents

Preface iii To the student . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii 1 2 What is mechanics? Vectors for mechanics 2.1 Vector notation and vector addition . . . . . . . . 2.2 The dot product of two vectors . . . . . . . . . . . 2.3 Cross product, moment, and moment about an axis 2.4 Solving vector equations . . . . . . . . . . . . . . 2.5 Equivalent force systems . . . . . . . . . . . . . . 1 7 8 23 32 50 69 79 80 107 109 129 138 146 162 179 195 207 217 219 233 240 257 264 274 281 289 304 314

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Free body diagrams 3.1 Free body diagrams . . . . . . . . . . . . . . . . . . . . . . . . . Statics 4.1 Static equilibrium of one body . . . . . . . . . . . . . . . . . 4.2 Elementary truss analysis . . . . . . . . . . . . . . . . . . . 4.3 Advanced truss analysis: determinacy, rigidity, and redundancy 4.4 Internal forces . . . . . . . . . . . . . . . . . . . . . . . . . 4.5 Springs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6 Structures and machines . . . . . . . . . . . . . . . . . . . . 4.7 Hydrostatics . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8 Advanced statics . . . . . . . . . . . . . . . . . . . . . . . . Dynamics of particles 5.1 Force and motion in 1D . . . . . . . . . . . . . . . . . . . . 5.2 Energy methods in 1D . . . . . . . . . . . . . . . . . . . . . 5.3 The harmonic oscillator . . . . . . . . . . . . . . . . . . . . 5.4 More on vibrations: damping . . . . . . . . . . . . . . . . . 5.5 Forced oscillations and resonance . . . . . . . . . . . . . . . 5.6 Coupled motions in 1D . . . . . . . . . . . . . . . . . . . . . 5.7 Time derivative of a vector: position, velocity and acceleration 5.8 Spatial dynamics of a particle . . . . . . . . . . . . . . . . . 5.9 Central-force motion and celestial mechanics . . . . . . . . . 5.10 Coupled motions of particles in space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Constrained straight line motion 329 6.1 1-D constrained motion and pulleys . . . . . . . . . . . . . . . . . 330 6.2 2-D and 3-D forces even though the motion is straight . . . . . . . . 343 i

ii 7 Circular motion 7.1 Kinematics of a particle in planar circular motion . 7.2 Dynamics of a particle in circular motion . . . . . 7.3 Kinematics of a rigid body in planar circular motion 7.4 Dynamics of a rigid body in planar circular motion cm O 7.5 Polar moment of inertia: Izz and Izz . . . . . . . . cm O 7.6 Using Izz and Izz in 2-D circular motion dynamics General planar motion of a single rigid body 8.1 Kinematics of planar rigid-body motion . . . . . . 8.2 General planar mechanics of a rigid-body . . . . . 8.3 Kinematics of rolling and sliding . . . . . . . . . . 8.4 Mechanics of contacting bodies: rolling and sliding 8.5 Collisions . . . . . . . . . . . . . . . . . . . . .

CONTENTS 359 360 371 378 395 410 420 437 438 452 467 480 500 517 518 532 545 558 572

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Kinematics using time-varying base vectors 9.1 Polar coordinates and path coordinates . . . . . . . . . . . . 9.2 Rotating reference frames and their time-varying base vectors 9.3 General expressions for velocity and acceleration . . . . . . 9.4 Kinematics of 2-D mechanisms . . . . . . . . . . . . . . . 9.5 Advance kinematics of planar motion . . . . . . . . . . . .

10 Mechanics of constrained particles and rigid bodies 581 10.1 Mechanics of a constrained particle and of a particle relative to a moving frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584 10.2 Mechanics of one-degree-of-freedom 2-D mechanisms . . . . . . . 602 10.3 Dynamics of rigid bodies in multi-degree-of-freedom 2-D mechanisms618 11 Introduction to three dimensional rigid body mechanics 11.1 3-D description of circular motion . . . . . . . . . . 11.2 Dynamics of xed-axis rotation . . . . . . . . . . . 11.3 Moment of inertia matrices . . . . . . . . . . . . . 11.4 Mechanics using the moment of inertia matrix . . . . 11.5 Dynamic balance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637 638 648 661 672 693

A Units and dimensions 701 A.1 Units and dimensions . . . . . . . . . . . . . . . . . . . . . . . . 701 B Contact: friction and collisions B.1 Contact laws are all rough approximations B.2 Friction . . . . . . . . . . . . . . . . . . B.3 A short critique of Coulomb friction . . . B.4 Collision mechanics . . . . . . . . . . . Homework problems Answers to *d problems Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 711 712 713 716 721 722 831 837