ME 320 Dynamics of Machines Instructor: Prof.

Woosoon Yim

Math Tools-
Vectors, Matrices, Complex Numbers
ME 320
ME 320 Dynamics of Machines Instructor: Prof. Woosoon Yim

Physical Space and Number System

ℕ - Natural Numbers
ℕ = 1,2, …

ℤ - Integers
ℤ = 0, ±1, ±2, …

ℚ - Rational Numbers
𝑚
ℚ = ∀𝑛, 𝑚 ∈ ℤ 𝑛 𝑖𝑠 𝑎 𝑟𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑛𝑢𝑚𝑏𝑒𝑟, 𝑛 ≠ 0

(For all n and m in the set of integers, n divides m forms a

rational number where n is not zero)

ℝ - Real numbers
(For our purposes think of this set as the set of all rational numbers
merged with all the irrational numbers, i.e. 2, 𝜋, 𝑒,…)

ℂ - Complex Numbers
We introduce the complex number 𝑖 =
−1, and say that a complex number
𝑠 is defined by
𝑖 2 = −1
𝑠 = 𝑎 + 𝑖𝑏
Where 𝑎 and 𝑏 are real numbers.
ME 320 Dynamics of Machines Instructor: Prof. Woosoon Yim

Vector Dimension
A vector with n elements: 2D representation:
ℕ, ℕ2 , ℕ3 , … , ℕ𝑛
ℤ, ℤ2 , ℤ3 , … , ℤ𝑛
ℚ, ℚ2 , ℚ3 , … , ℚ𝑛
ℝ, ℝ2 , ℝ3 , … , ℝ𝑛
ℂ, ℂ2 , ℂ3 , … , ℂ𝑛

x 1
or
 x is a real scalar number
x 2

 x is a (2 1) vector of
rational numbers
x 3

 x is a (3 1) vector of
complex numbers
ME 320 Dynamics of Machines Instructor: Prof. Woosoon Yim

Point Representation
A vector V with end points p1 and p2 in 2D and 3D spaces are
V  p2  p1

 p2 x  p1x    p2 y  p1 y 
2
V  p2  p1 
2

 p2 y  p1 y 
2D
 p2 x  p1x 
T

uˆ  
V

 p2 x  p1x    p2 y  p1 y    p2 z  p1z 
2
V  p2  p1 
2 2

 p2 y  p1 y 
3D
 p2 x  p1x   p2 z  p1z 
T

uˆ  
V
ME 320 Dynamics of Machines Instructor: Prof. Woosoon Yim

Euler Formula
Maclaurin series is a Taylor series expansion of a function about 0
f (0) 2 f (0) 3 Im
f ( x)  f (0)  f (0) x  x  x 
2! 3!
ei  cos   i sin 
for f ( )  ei
i i ei ei
e  1  ie
x 0
 i 2
 i 2 3
3  
2! x 0
3! x 0
Re
 i   i   i   i 
2 3 4 5

 1  i     
2! 3! 4! 5!
 2 4   3 5 
 1      i      
 2! 4!   3! 5! 
 cos   j sin   Euler's formula
cos   1    sin    0  
  cos   2 
  sin   3 
2!  0
3!  0

 2
 4
 1  
2! 4!

sin   0   cos    0  
  sin   2 
  cos   3 
2!  0
3!  0

3 5
   
3! 5!
ME 320 Dynamics of Machines Instructor: Prof. Woosoon Yim

Complex Number-
Multiplication/Differentiation
• Product V1 V2  V1ei1V2 ei2  V1V2ei1 2   V1V2 cos 1   2   i sin 1   2  

• Derivatives
dV1 d
 i 1 V1ei1  i1V1ei1  i1V1
dt dt
d 2V1
dt 2
 i 1V 1  i1V1
V1 i1V1
 V1  i1V1  1
2
V1  V1i1  1
2

• Differentiation of complex numbers are used to find
velocity and acceleration from the vector-loop equation.
ME 320 Dynamics of Machines Instructor: Prof. Woosoon Yim

Matrix and System of Equations

1
 x1   2 3   y1 
   y 
 2 
x 1 4   2
 ME 320 Dynamics of Machines Instructor: Prof. Woosoon Yim

Mathematics in Kinematics-2D
V1  V1x  iV1 y  V1 (cos 1  i sin 1 )  V1ei1 Note that * i  90 CCW since i  ei 90
iei1
V1
i1
e  cos 1  i sin 1 Im ei1
i i i (  )
Multiplication: VV 1 2  V1e V2 e  VV
1 2e
1 2 1 2

1 2  cos(1   2 )  i sin(1   2 ) 
 VV V2
Differentiation: V  V e  1 1
i 1

dV1 dV1 i1 dei1 dei1 d1 1

V1   e  V1  V1  iV1ei11  i1V1 Re
dt dt dt d1 dt
 0 V1  const

 V11 iei1  or i1V1ei1

 i1V1 (cos 1  i sin 1 ) iei1
  1V sin 1   i 1V1 cos 1 
Im ei1
V11

d
V1 
dV1 V1 i1V1
dt dt
dV
  i 1 V1  i1 1  i1V1   12V1  V1 i1   12
dt
  V2 V112
i1V1


 V1ei1 i1   12  1
Re
i1 i1
=V11 ie   V  e 
2
1 1

 iV11 (cos 1  i sin 1 )  V1 12(cos 1  i sin 1 )

  V11 sin 1  V1 12 cos 1   i V11 cos 1  V1 12 sin 1 
ME 320 Dynamics of Machines Instructor: Prof. Woosoon Yim

Loop Equations and Derivatives

Loop equation: (Vj is variable, V1, V2, and V3 are constant)
V1  V2 - V3  V j  2 , 2 , 2
V1ei1  V2 ei2  iV3  V j
V1 (cos 1  i sin 1 )  V2 (cos  2  i sin  2 )  iV3  V j
V cos 
1 1  V2 cos  2  V j   i V1 sin 1  V2 sin  2  V3   0
V1 cos 1  V2 cos  2  V j  0 11 , 1 , 1 V j ,V j ,V j
 Solve for  2 , V j for given 1
V1 sin 1  V2 sin  2  V3  0

i1
i1 i 2
i 0  i1V1e 
V1 V1e
V1  V2 - V3  V j  0 
V V e
 i 2V2 e Vj  0
j j

1st Differentiation: i1V1 (cos 1  i sin 1 )  i 2V2 (cos  2  i sin  2 )  V j  0

  V sin 
1 1 1  
  2V2 sin  2  V j  i 1V1 cos 1   2V2 cos  2  0 
1V1 sin 1   2V2 sin  2  V j  0 Given:1

 2 ,V j from loop equation

1V1 cos 1   2V2 cos  2  0
 V2 sin  2 1   2   1V1 sin 1  2 
 V cos      Solve  
 2 2 0   V j   1V1 cos 1  V j 
ME 320 Dynamics of Machines Instructor: Prof. Woosoon Yim

2nd Differentiation:
V i1V1
V1  V2 - V3  V j  0 
V V

j j

  
V1 i1   12  V2 i 2   22  V j  0
   
V1ei1 i1   12  V2 ei2 i 2   22  V j  0
iV11ei1  V112ei1  iV2 2ei2  V2 2 2ei2  V j  0
iV11 (cos 1  i sin 1 )  V112 (cos 1  i sin 1 )  iV2 2 (cos  2  i sin  2 )  V2 2 2 (cos  2  i sin  2 )  V j  0

 V  sin 
1 1 1  V112 cos 1  V2 2 sin  2  V2 2 2 cos  2  V j 
 
 i V11 cos 1  V112 sin 1  V2 2 cos  2  V2 2 2 sin  2  0

 V sin 
Given:1 ,1 ,1 1   2   V11 sin 1  V112 cos 1  V2 2 2 cos  2  2 

 2     Solve for  
V2 cos  2
 2 ,V j from loop eqs
 2 from velocity eqs
0   V j   V11 cos 1  V112 sin 1  V2 2 2 sin  2  V j 
ME 320 Dynamics of Machines Instructor: Prof. Woosoon Yim

MATLAB Example
>> syms R1 R2 R3 th1(t) th2(t) t;
>> R3=R1*exp(i*th1(t))+R2*exp(i*th2(t));
R2 >> dR3=diff(R3)
Imaginary

dR3 =
2
R1*exp(th1(t)*i)*diff(th1(t), t)*i +
R2*exp(th2(t)*i)*diff(th2(t), t)*i
R1 R3
>> ddR3=diff(dR3)
3 ddR3 =
1 - R1*exp(th1(t)*i)*diff(th1(t), t)^2 -
R2*exp(th2(t)*i)*diff(th2(t), t)^2 +
Real
R1*exp(th1(t)*i)*diff(th1(t), t, t)*i +
R 3 = R1 + R 2 R2*exp(th2(t)*i)*diff(th2(t), t, t)*i

 R1ei1  R2ei2 >> ddR3=diff(R3,2)

  R1 cos 1  R2 cos  2   i  R1 sin 1  R2 sin  2  ddR3 =
- R1*exp(th1(t)*i)*diff(th1(t), t)^2 -
R 3  R 1 + R 2  i1R 1 + i 2 R 2 R2*exp(th2(t)*i)*diff(th2(t), t)^2 +
R1*exp(th1(t)*i)*diff(th1(t), t, t)*i +
 i1 R1 (cos 1  i sin 1 ) + i 2 R2 (cos  2  i sin  2 ) R2*exp(th2(t)*i)*diff(th2(t), t, t)*i

  1 sin 1   2 R2 sin  2   i 1 R1 cos 1   2 R2 cos  2 

ei1  exp(th1 t  *i)

R 3  R 1 i1    R 2 i 2  
2
1   2
2 
 iR11ei1  R112ei1  iR2 2ei2  R2 2 2ei2
1  diff (th1(t), t)
1  diff (th1(t), t, t)