{"product_id":"advanced-dynamics-9780470398357","title":"Advanced Dynamics","description":"\u003cb\u003eBook Synopsis\u003c\/b\u003e\u003cbr\u003e\u003cp\u003eA thorough understanding of rigid body dynamics as it relates to modern mechanical and aerospace systems requires engineers to be well versed in a variety of disciplines. This book offers an all-encompassing view by interconnecting a multitude of key areas in the study of rigid body dynamics, including classical mechanics, spacecraft dynamics, and multibody dynamics. In a clear, straightforward style ideal for learners at any level,\u003ci\u003eAdvanced Dynamics\u003c\/i\u003ebuilds a solid fundamental base by first providing an in-depth review of kinematics and basic dynamics before ultimately moving forward to tackle advanced subject areas such as rigid body and Lagrangian dynamics. In addition, Advanced Dynamics:\u003c\/p\u003e \u003cul\u003e \u003cli\u003eIs the only book that bridges the gap between rigid body, multibody, and spacecraft dynamics for graduate students and specialists in mechanical and aerospace engineering\u003c\/li\u003e \u003cli\u003eContains coverage of special applications that highlight the different aspects of dynamics and enha\u003cbr\u003e\u003cbr\u003e\u003cb\u003eTable of Contents\u003c\/b\u003e\u003cbr\u003e\u003cp\u003ePreface xiii\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart I Fundamentals 1\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e1 Fundamentals of Kinematics 3\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e1.1 Coordinate Frame and Position Vector 3\u003c\/p\u003e \u003cp\u003e1.1.1 Triad 3\u003c\/p\u003e \u003cp\u003e1.1.2 Coordinate Frame and Position Vector 4\u003c\/p\u003e \u003cp\u003e1.1.3 Vector Definition 10\u003c\/p\u003e \u003cp\u003e1.2 Vector Algebra 12\u003c\/p\u003e \u003cp\u003e1.2.1 Vector Addition 12\u003c\/p\u003e \u003cp\u003e1.2.2 Vector Multiplication 17\u003c\/p\u003e \u003cp\u003e1.2.3 Index Notation 26\u003c\/p\u003e \u003cp\u003e1.3 Orthogonal Coordinate Frames 31\u003c\/p\u003e \u003cp\u003e1.3.1 Orthogonality Condition 31\u003c\/p\u003e \u003cp\u003e1.3.2 Unit Vector 34\u003c\/p\u003e \u003cp\u003e1.3.3 Direction of Unit Vectors 36\u003c\/p\u003e \u003cp\u003e1.4 Differential Geometry 37\u003c\/p\u003e \u003cp\u003e1.4.1 Space Curve 38\u003c\/p\u003e \u003cp\u003e1.4.2 Surface and Plane 43\u003c\/p\u003e \u003cp\u003e1.5 Motion Path Kinematics 46\u003c\/p\u003e \u003cp\u003e1.5.1 Vector Function and Derivative 46\u003c\/p\u003e \u003cp\u003e1.5.2 Velocity and Acceleration 51\u003c\/p\u003e \u003cp\u003e1.5.3 Natural Coordinate Frame 54\u003c\/p\u003e \u003cp\u003e1.6 Fields 77\u003c\/p\u003e \u003cp\u003e1.6.1 Surface and Orthogonal Mesh 78\u003c\/p\u003e \u003cp\u003e1.6.2 Scalar Field and Derivative 85\u003c\/p\u003e \u003cp\u003e1.6.3 Vector Field and Derivative 92\u003c\/p\u003e \u003cp\u003eKey Symbols 100\u003c\/p\u003e \u003cp\u003eExercises 103\u003c\/p\u003e \u003cp\u003e\u003cb\u003e2 Fundamentals of Dynamics 114\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e2.1 Laws of Motion 114\u003c\/p\u003e \u003cp\u003e2.2 Equation of Motion 119\u003c\/p\u003e \u003cp\u003e2.2.1 Force and Moment 120\u003c\/p\u003e \u003cp\u003e2.2.2 Motion Equation 125\u003c\/p\u003e \u003cp\u003e2.3 Special Solutions 131\u003c\/p\u003e \u003cp\u003e2.3.1 Force Is a Function of Time, F = F (t) 132\u003c\/p\u003e \u003cp\u003e2.3.2 Force Is a Function of Position, F = F(x) 141\u003c\/p\u003e \u003cp\u003e2.3.3 Elliptic Functions 148\u003c\/p\u003e \u003cp\u003e2.3.4 Force Is a Function of Velocity, F = F (v) 156\u003c\/p\u003e \u003cp\u003e2.4 Spatial and Temporal Integrals 165\u003c\/p\u003e \u003cp\u003e2.4.1 Spatial Integral: Work and Energy 165\u003c\/p\u003e \u003cp\u003e2.4.2 Temporal Integral: Impulse and Momentum 176\u003c\/p\u003e \u003cp\u003e2.5 Application of Dynamics 188\u003c\/p\u003e \u003cp\u003e2.5.1 Modeling 189\u003c\/p\u003e \u003cp\u003e2.5.2 Equations of Motion 197\u003c\/p\u003e \u003cp\u003e2.5.3 Dynamic Behavior and Methods of Solution 200\u003c\/p\u003e \u003cp\u003e2.5.4 Parameter Adjustment 220\u003c\/p\u003e \u003cp\u003eKey Symbols 223\u003c\/p\u003e \u003cp\u003eExercises 226\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart II Geometric Kinematics 241\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e3 Coordinate Systems 243\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e3.1 Cartesian Coordinate System 243\u003c\/p\u003e \u003cp\u003e3.2 Cylindrical Coordinate System 250\u003c\/p\u003e \u003cp\u003e3.3 Spherical Coordinate System 263\u003c\/p\u003e \u003cp\u003e3.4 Nonorthogonal Coordinate Frames 269\u003c\/p\u003e \u003cp\u003e3.4.1 Reciprocal Base Vectors 269\u003c\/p\u003e \u003cp\u003e3.4.2 Reciprocal Coordinate Frame 278\u003c\/p\u003e \u003cp\u003e3.4.3 Inner and Outer Vector Product 285\u003c\/p\u003e \u003cp\u003e3.4.4 Kinematics in Oblique Coordinate Frames 298\u003c\/p\u003e \u003cp\u003e3.5 Curvilinear Coordinate System 300\u003c\/p\u003e \u003cp\u003e3.5.1 Principal and Reciprocal Base Vectors 301\u003c\/p\u003e \u003cp\u003e3.5.2 Principal–Reciprocal Transformation 311\u003c\/p\u003e \u003cp\u003e3.5.3 Curvilinear Geometry 320\u003c\/p\u003e \u003cp\u003e3.5.4 Curvilinear Kinematics 325\u003c\/p\u003e \u003cp\u003e3.5.5 Kinematics in Curvilinear Coordinates 335\u003c\/p\u003e \u003cp\u003eKey Symbols 346\u003c\/p\u003e \u003cp\u003eExercises 347\u003c\/p\u003e \u003cp\u003e\u003cb\u003e4 Rotation Kinematics 357\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e4.1 Rotation About Global Cartesian Axes 357\u003c\/p\u003e \u003cp\u003e4.2 Successive Rotations About Global Axes 363\u003c\/p\u003e \u003cp\u003e4.3 Global Roll–Pitch–Yaw Angles 370\u003c\/p\u003e \u003cp\u003e4.4 Rotation About Local Cartesian Axes 373\u003c\/p\u003e \u003cp\u003e4.5 Successive Rotations About Local Axes 376\u003c\/p\u003e \u003cp\u003e4.6 Euler Angles 379\u003c\/p\u003e \u003cp\u003e4.7 Local Roll–Pitch–Yaw Angles 391\u003c\/p\u003e \u003cp\u003e4.8 Local versus Global Rotation 395\u003c\/p\u003e \u003cp\u003e4.9 General Rotation 397\u003c\/p\u003e \u003cp\u003e4.10 Active and Passive Rotations 409\u003c\/p\u003e \u003cp\u003e4.11 Rotation of Rotated Body 411\u003c\/p\u003e \u003cp\u003eKey Symbols 415\u003c\/p\u003e \u003cp\u003eExercises 416\u003c\/p\u003e \u003cp\u003e\u003cb\u003e5 Orientation Kinematics 422\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e5.1 Axis–Angle Rotation 422\u003c\/p\u003e \u003cp\u003e5.2 Euler Parameters 438\u003c\/p\u003e \u003cp\u003e5.3 Quaternion 449\u003c\/p\u003e \u003cp\u003e5.4 Spinors and Rotators 457\u003c\/p\u003e \u003cp\u003e5.5 Problems in Representing Rotations 459\u003c\/p\u003e \u003cp\u003e5.5.1 Rotation Matrix 460\u003c\/p\u003e \u003cp\u003e5.5.2 Axis–Angle 461\u003c\/p\u003e \u003cp\u003e5.5.3 Euler Angles 462\u003c\/p\u003e \u003cp\u003e5.5.4 Quaternion and Euler Parameters 463\u003c\/p\u003e \u003cp\u003e5.6 Composition and Decomposition of Rotations 465\u003c\/p\u003e \u003cp\u003e5.6.1 Composition of Rotations 466\u003c\/p\u003e \u003cp\u003e5.6.2 Decomposition of Rotations 468\u003c\/p\u003e \u003cp\u003eKey Symbols 470\u003c\/p\u003e \u003cp\u003eExercises 471\u003c\/p\u003e \u003cp\u003e\u003cb\u003e6 Motion Kinematics 477\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e6.1 Rigid-Body Motion 477\u003c\/p\u003e \u003cp\u003e6.2 Homogeneous Transformation 481\u003c\/p\u003e \u003cp\u003e6.3 Inverse and Reverse Homogeneous Transformation 494\u003c\/p\u003e \u003cp\u003e6.4 Compound Homogeneous Transformation 500\u003c\/p\u003e \u003cp\u003e6.5 Screw Motion 517\u003c\/p\u003e \u003cp\u003e6.6 Inverse Screw 529\u003c\/p\u003e \u003cp\u003e6.7 Compound Screw Transformation 531\u003c\/p\u003e \u003cp\u003e6.8 Plücker Line Coordinate 534\u003c\/p\u003e \u003cp\u003e6.9 Geometry of Plane and Line 540\u003c\/p\u003e \u003cp\u003e6.9.1 Moment 540\u003c\/p\u003e \u003cp\u003e6.9.2 Angle and Distance 541\u003c\/p\u003e \u003cp\u003e6.9.3 Plane and Line 541\u003c\/p\u003e \u003cp\u003e6.10 Screw and Plücker Coordinate 545\u003c\/p\u003e \u003cp\u003eKey Symbols 547\u003c\/p\u003e \u003cp\u003eExercises 548\u003c\/p\u003e \u003cp\u003e\u003cb\u003e7 Multibody Kinematics 555\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e7.1 Multibody Connection 555\u003c\/p\u003e \u003cp\u003e7.2 Denavit–Hartenberg Rule 563\u003c\/p\u003e \u003cp\u003e7.3 Forward Kinematics 584\u003c\/p\u003e \u003cp\u003e7.4 Assembling Kinematics 615\u003c\/p\u003e \u003cp\u003e7.5 Order-Free Rotation 628\u003c\/p\u003e \u003cp\u003e7.6 Order-Free Transformation 635\u003c\/p\u003e \u003cp\u003e7.7 Forward Kinematics by Screw 643\u003c\/p\u003e \u003cp\u003e7.8 Caster Theory in Vehicles 649\u003c\/p\u003e \u003cp\u003e7.9 Inverse Kinematics 662\u003c\/p\u003e \u003cp\u003eKey Symbols 684\u003c\/p\u003e \u003cp\u003eExercises 686\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart III Derivative Kinematics 693\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e8 Velocity Kinematics 695\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e8.1 Angular Velocity 695\u003c\/p\u003e \u003cp\u003e8.2 Time Derivative and Coordinate Frames 718\u003c\/p\u003e \u003cp\u003e8.3 Multibody Velocity 727\u003c\/p\u003e \u003cp\u003e8.4 Velocity Transformation Matrix 739\u003c\/p\u003e \u003cp\u003e8.5 Derivative of a Homogeneous Transformation Matrix 748\u003c\/p\u003e \u003cp\u003e8.6 Multibody Velocity 754\u003c\/p\u003e \u003cp\u003e8.7 Forward-Velocity Kinematics 757\u003c\/p\u003e \u003cp\u003e8.8 Jacobian-Generating Vector 765\u003c\/p\u003e \u003cp\u003e8.9 Inverse-Velocity Kinematics 778\u003c\/p\u003e \u003cp\u003eKey Symbols 782\u003c\/p\u003e \u003cp\u003eExercises 783\u003c\/p\u003e \u003cp\u003e\u003cb\u003e9 Acceleration Kinematics 788\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e9.1 Angular Acceleration 788\u003c\/p\u003e \u003cp\u003e9.2 Second Derivative and Coordinate Frames 810\u003c\/p\u003e \u003cp\u003e9.3 Multibody Acceleration 823\u003c\/p\u003e \u003cp\u003e9.4 Particle Acceleration 830\u003c\/p\u003e \u003cp\u003e9.5 Mixed Double Derivative 858\u003c\/p\u003e \u003cp\u003e9.6 Acceleration Transformation Matrix 864\u003c\/p\u003e \u003cp\u003e9.7 Forward-Acceleration Kinematics 872\u003c\/p\u003e \u003cp\u003e9.8 Inverse-Acceleration Kinematics 874\u003c\/p\u003e \u003cp\u003eKey Symbols 877\u003c\/p\u003e \u003cp\u003eExercises 878\u003c\/p\u003e \u003cp\u003e\u003cb\u003e10 Constraints 887\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e10.1 Homogeneity and Isotropy 887\u003c\/p\u003e \u003cp\u003e10.2 Describing Space 890\u003c\/p\u003e \u003cp\u003e10.2.1 Configuration Space 890\u003c\/p\u003e \u003cp\u003e10.2.2 Event Space 896\u003c\/p\u003e \u003cp\u003e10.2.3 State Space 900\u003c\/p\u003e \u003cp\u003e10.2.4 State–Time Space 908\u003c\/p\u003e \u003cp\u003e10.2.5 Kinematic Spaces 910\u003c\/p\u003e \u003cp\u003e10.3 Holonomic Constraint 913\u003c\/p\u003e \u003cp\u003e10.4 Generalized Coordinate 923\u003c\/p\u003e \u003cp\u003e10.5 Constraint Force 932\u003c\/p\u003e \u003cp\u003e10.6 Virtual and Actual Works 935\u003c\/p\u003e \u003cp\u003e10.7 Nonholonomic Constraint 952\u003c\/p\u003e \u003cp\u003e10.7.1 Nonintegrable Constraint 952\u003c\/p\u003e \u003cp\u003e10.7.2 Inequality Constraint 962\u003c\/p\u003e \u003cp\u003e10.8 Differential Constraint 966\u003c\/p\u003e \u003cp\u003e10.9 Generalized Mechanics 970\u003c\/p\u003e \u003cp\u003e10.10 Integral of Motion 976\u003c\/p\u003e \u003cp\u003e10.11 Methods of Dynamics 996\u003c\/p\u003e \u003cp\u003e10.11.1 Lagrange Method 996\u003c\/p\u003e \u003cp\u003e10.11.2 Gauss Method 999\u003c\/p\u003e \u003cp\u003e10.11.3 Hamilton Method 1002\u003c\/p\u003e \u003cp\u003e10.11.4 Gibbs–Appell Method 1009\u003c\/p\u003e \u003cp\u003e10.11.5 Kane Method 1013\u003c\/p\u003e \u003cp\u003e10.11.6 Nielsen Method 1017\u003c\/p\u003e \u003cp\u003eKey Symbols 1021\u003c\/p\u003e \u003cp\u003eExercises 1024\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePart IV Dynamics 1031\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e11 Rigid Body and Mass Moment 1033\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e11.1 Rigid Body 1033\u003c\/p\u003e \u003cp\u003e11.2 Elements of the Mass Moment Matrix 1035\u003c\/p\u003e \u003cp\u003e11.3 Transformation of Mass Moment Matrix 1044\u003c\/p\u003e \u003cp\u003e11.4 Principal Mass Moments 1058\u003c\/p\u003e \u003cp\u003eKey Symbols 1065\u003c\/p\u003e \u003cp\u003eExercises 1066\u003c\/p\u003e \u003cp\u003e\u003cb\u003e12 Rigid-Body Dynamics 1072\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e12.1 Rigid-Body Rotational Cartesian Dynamics 1072\u003c\/p\u003e \u003cp\u003e12.2 Rigid-Body Rotational Eulerian Dynamics 1096\u003c\/p\u003e \u003cp\u003e12.3 Rigid-Body Translational Dynamics 1101\u003c\/p\u003e \u003cp\u003e12.4 Classical Problems of Rigid Bodies 1112\u003c\/p\u003e \u003cp\u003e12.4.1 Torque-Free Motion 1112\u003c\/p\u003e \u003cp\u003e12.4.2 Spherical Torque-Free Rigid Body 1115\u003c\/p\u003e \u003cp\u003e12.4.3 Axisymmetric Torque-Free Rigid Body 1116\u003c\/p\u003e \u003cp\u003e12.4.4 Asymmetric Torque-Free Rigid Body 1128\u003c\/p\u003e \u003cp\u003e12.4.5 General Motion 1141\u003c\/p\u003e \u003cp\u003e12.5 Multibody Dynamics 1157\u003c\/p\u003e \u003cp\u003e12.6 Recursive Multibody Dynamics 1170\u003c\/p\u003e \u003cp\u003eKey Symbols 1177\u003c\/p\u003e \u003cp\u003eExercises 1179\u003c\/p\u003e \u003cp\u003e\u003cb\u003e13 Lagrange Dynamics 1189\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e13.1 Lagrange Form of Newton Equations 1189\u003c\/p\u003e \u003cp\u003e13.2 Lagrange Equation and Potential Force 1203\u003c\/p\u003e \u003cp\u003e13.3 Variational Dynamics 1215\u003c\/p\u003e \u003cp\u003e13.4 Hamilton Principle 1228\u003c\/p\u003e \u003cp\u003e13.5 Lagrange Equation and Constraints 1232\u003c\/p\u003e \u003cp\u003e13.6 Conservation Laws 1240\u003c\/p\u003e \u003cp\u003e13.6.1 Conservation of Energy 1241\u003c\/p\u003e \u003cp\u003e13.6.2 Conservation of Momentum 1243\u003c\/p\u003e \u003cp\u003e13.7 Generalized Coordinate System 1244\u003c\/p\u003e \u003cp\u003e13.8 Multibody Lagrangian Dynamics 1251\u003c\/p\u003e \u003cp\u003eKey Symbols 1262\u003c\/p\u003e \u003cp\u003eExercises 1264\u003c\/p\u003e \u003cp\u003eReferences 1280\u003c\/p\u003e \u003cp\u003eA Global Frame Triple Rotation 1287\u003c\/p\u003e \u003cp\u003eB Local Frame Triple Rotation 1289\u003c\/p\u003e \u003cp\u003eC Principal Central Screw Triple Combination 1291\u003c\/p\u003e \u003cp\u003eD Industrial Link DH Matrices 1293\u003c\/p\u003e \u003cp\u003eE Trigonometric Formula 1300\u003c\/p\u003e \u003cp\u003eIndex 1305\u003c\/p\u003e\n\u003c\/li\u003e\n\u003c\/ul\u003e","brand":"John Wiley \u0026 Sons Inc","offers":[{"title":"Default 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