Contents

Preface .........................................................................................................

xi

1. Newtonian Mechanics ...........................................................................

1.1

Introduction ...............................................................................................

1.2

Fundamentals ...........................................................................................

1.3

Space and Time .......................................................................................

1.4

Mass .........................................................................................................

1.5

Force ........................................................................................................

1.6

Work and Power .......................................................................................

1.7

Kinematics of a Point ................................................................................

1.8

Kinetics of a Particle ................................................................................. 11

1.9

Impulse ..................................................................................................... 12

1.10 Kinetic Energy .......................................................................................... 13

1.11 Potential Energy ....................................................................................... 13
1.12 Corioliss Theorem .................................................................................... 14
1.13 Newton's Laws for a Group of Particles .................................................... 15
1.14 Conservation of Momentum ..................................................................... 17
1.15 Energy for a Group of Particles ................................................................ 17
1.16 The Principle of Virtual Work .................................................................... 18
1.17 DAlemberts Principle .............................................................................. 19

2. Lagranges Equations ........................................................................... 21

2.1

Introduction ............................................................................................... 21

2.2

Generalized Co-Ordinates ........................................................................ 23

2.3

Proof of Lagranges Equations ................................................................. 25

2.4

The Dissipation Function .......................................................................... 27

2.5

Kinetic Energy .......................................................................................... 29

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Contents
2.6

Conservation Laws ................................................................................... 31

2.7

Hamiltons Equations ................................................................................ 33

2.8

Rotating Frame of Reference and Velocity-Dependent Potentials ........... 35

2.9

Moving Co-Ordinates ................................................................................ 39

2.10 Non-Holonomic Systems .......................................................................... 41

2.11 Lagranges Equations for Impulsive Forces .............................................. 43

3. Hamiltons Principle .............................................................................. 46

3.1

Introduction ............................................................................................... 46

3.2

Derivation of Hamiltons Principle ............................................................. 47

3.3

Application of Hamiltons Principle ........................................................... 49

3.4

Lagranges Equations Derived from Hamiltons Principle ......................... 51

3.5

Illustrative Example .................................................................................. 52

4. Rigid Body Motion in Three Dimensions ............................................ 55

4.1

Introduction ............................................................................................... 55

4.2

Rotation .................................................................................................... 55

4.3

Angular Velocity ........................................................................................ 58

4.4

Kinetics of a Rigid Body ............................................................................ 59

4.5

Moment of Inertia ...................................................................................... 61

4.6

Eulers Equation for Rigid Body Motion .................................................... 64

4.7

Kinetic Energy of a Rigid Body ................................................................. 65

4.8

Torque-Free Motion of a Rigid Body ........................................................ 67

4.9

Stability of Torque-Free Motion ................................................................ 72

4.10 Eulers Angles ........................................................................................... 75

4.11 The Symmetrical Body ............................................................................. 76
4.12 Forced Precession .................................................................................... 80
4.13 Epilogue .................................................................................................... 83

5. Dynamics of Vehicles ........................................................................... 85

5.1

Introduction ............................................................................................... 85

5.2

Gravitational Potential .............................................................................. 85

5.3

The Two-Body Problem ............................................................................ 88

5.4

The Central Force Problem ...................................................................... 90

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5.5

Satellite Motion ......................................................................................... 93

5.6

Effects of Oblateness ............................................................................... 100

5.7

Rocket in Free Space ............................................................................... 103

5.8

Non-Spherical Satellite ............................................................................. 106

5.9

Spinning Satellite ...................................................................................... 107

5.10

De-Spinning of Satellites ......................................................................... 107

5.11 Stability of Aircraft ..................................................................................... 109

5.12 Stability of a Road Vehicle ........................................................................ 118

6. Impact and One-Dimensional Wave Propagation ............................... 125

6.1

Introduction ............................................................................................... 125

6.2

The One-Dimensional Wave .................................................................... 125

6.3

Longitudinal Waves in an Elastic Prismatic Bar ....................................... 128

6.4

Reflection and Transmission at a Boundary ............................................. 130

6.5

Momentum and Energy in a Pulse ........................................................... 132

6.6

Impact of Two Bars ................................................................................... 133

6.7

Constant Force Applied to a Long Bar ..................................................... 136

6.8

The Effect of Local Deformation on Pulse Shape ..................................... 138

6.9

Prediction of Pulse Shape during Impact of Two Bars ............................. 141

6.10 Impact of a Rigid Mass on an Elastic Bar ................................................. 145

6.11 Dispersive Waves ..................................................................................... 149
6.12 Waves in a Uniform Beam ........................................................................ 155
6.13 Waves in Periodic Structures ................................................................... 161
6.14 Waves in a Helical Spring ......................................................................... 163

7. Waves in a Three-Dimensional Elastic Solid ...................................... 172

7.1

Introduction ............................................................................................... 172

7.2

Strain ........................................................................................................ 172

7.3

Stress ....................................................................................................... 176

7.4

Elastic Constants ...................................................................................... 177

7.5

Equations of Motion .................................................................................. 178

7.6

Wave Equation for an Elastic Solid .......................................................... 179

7.7

Plane Strain .............................................................................................. 184

7.8

Reflection at a Plane Surface ................................................................... 186

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Contents
7.9

Surface Waves (Rayleigh Waves) ............................................................ 189

7.10 Conclusion .................................................................................................. 192

8. Robot Arm Dynamics ............................................................................ 194

8.1

Introduction ............................................................................................... 194

8.2

Typical Arrangements ............................................................................... 194

8.3

Kinematics of Robot Arms ........................................................................ 197

8.4

Kinetics of a Robot Arm ............................................................................ 223

9. Relativity ................................................................................................ 235

9.1

Introduction ............................................................................................... 235

9.2

The Foundations of the Special Theory of Relativity ................................ 235

9.3

Time Dilation and Proper Time ................................................................. 240

9.4

Simultaneity .............................................................................................. 241

9.5

The Doppler Effect .................................................................................... 242

9.6

Velocity ..................................................................................................... 246

9.7

The Twin Paradox .................................................................................... 249

9.8

Conservation of Momentum ..................................................................... 250

9.9

Relativistic Force ...................................................................................... 252

9.10 Impact of Two Particles ............................................................................ 254

9.11 The Relativistic Lagrangian ...................................................................... 256
9.12 Conclusion ................................................................................................ 258

Problems ................................................................................................................. 261

Appendices
Appendix 1 Vectors, Tensors and Matrices ..................................................... 272
Appendix 2 Analytical Dynamics ...................................................................... 281
Appendix 3 Curvilinear Co-Ordinate Systems ................................................. 288

Bibliography ............................................................................................... 297

Index ............................................................................................................ 299

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