Dynamics of Mechanical Systems

Written by experts in the field, this text provides a modern introduction to three-dimensional dynamics for multibody systems. It covers rotation matrices, the twist-wrench formalism for multibody dynamics and Lagrangian dynamics, an approach that is often overlooked at the undergraduate level. The only prerequisites are differential equations and linear algebra as covered in a first-year engineering mathematics course. The text focuses on obtaining and understanding the equations of motion, featuring a rich set of examples and exercises that are drawn from real-world scenarios. Readers develop a reliable physical intuition that can then be used to apply dynamic analysis software tools, and to develop simplified approximate models. With this foundation, they will be able to confidently use the equations of motion in a variety of applications, ranging from simulation and design to motion planning and control.

• Covers Lagrangian dynamics, a powerful approach that simplifies dynamic analysis but is typically not covered at the undergraduate level
• Full of detailed and informative illustrations, it focuses on deriving and understanding the equations of motion for realistic mechanical systems
• Readers will learn how to use equations of motion in a variety of practical applications, ranging from simulation and design to motion planning and control