Table of Contents

INTRODUCTION
REVIEW OF VECTOR ALGEBRA
Equality of Vectors, Fixed and Free Vectors
Vector Addition
Vector Components
Angle Between Two Vectors
Vector Multiplication: Scalar Product
Vector Multiplication: Vector Product
Vector Multiplication: Triple Products
Use of the Index Summation Convention
Review of Matrix Procedures
Reference Frames and Unit Vector Sets
KINEMATICS OF A PARTICLE
Vector Differentiation
Position, Velocity, and Acceleration
Relative Velocity and Relative Acceleration
Differentiation of Rotating Unit Vectors
Geometric Interpretation of Acceleration
Motion on a Circle
Motion in a Plane
KINEMATICS OF A RIGID BODY
Orientation of Rigid Bodies
Configuration Graphs
Simple Angular Velocity and Simple Angular Acceleration
General Angular Velocity
Differentiation in Different Reference Frames
Addition Theorem for angular Velocity
Angular Acceleration
Relative Velocity and Relative Acceleration of Two Points on a Rigid Body
Points Moving on a Rigid Body
Rolling Bodies
The Rolling Disk and Rolling Wheel
A Conical Thrust Bearing
PLANAR MOTION OF RIGID BODIES - METHODS OF ANALYSIS
Coordinates, Constraints, Degrees of Freedom
Planar Motion of a Rigid Body
Instant Center, Points of Zero Velocity
Illustrative Example: A Four-Bar Linkage
Chains of Bodies
Instant Center, Analytical Considerations
Instant Center of Zero Acceleration
FORCES AND FORCE SYSTEMS
Forces and Moments
Systems of Forces
Zero Force Systems and Couples
Equivalent Force Systems
Wrenches
Physical Forces: Applied (Active) Forces
Mass Center
Physical Forces: Inertia (Passive) Forces

Each chapter also contains an Introduction

INERTIA, SECOND MOMENT VECTORS, MOMENTS AND PRODUCTS OF INERTIA, INERTIA DYADICS
Second Moment Vectors
Moments and Products of Inertia
Inertia Dyadics
Transformation Rules
Parallel Axis theorems
Principal Axes, Principal Moments of Inertia: Concepts, Example, and Discussion
Maximum and Minimum Moments and Products of Inertia
Inertia Ellipsoid
Application: Inertia Torques
PRINCIPLES OF DYNAMICS: NEWTON'S LAWS AND D'ALEMBERT'S PRINCIPLE
Principles of Dynamics
D'Alembert's Principle
The Simple Pendulum
A Smooth Particle Moving Inside a Vertical Rotating Tube
Inertia Forces on a Rigid Body
Projectile Motion
A Rotating Circular Disk
The Rod Pendulum
Double-Rod Pendulum
The Triple-Rod and N-Rod Pendulums
A Rotating Pinned Rod
The Rolling Circular Disk
PRINCIPLES OF IMPULSE AND MOMENTUM
Impulse
Linear Momentum
Angular Momentum
Principle of Linear Impulse and Momentum
Principle of Angular Impulse and Momentum
Conservation of Momentum Principles
Examples
Additional Examples: Conservation of Momentum
Impact: Coefficient of Restitution
Oblique Impact
Seizure of a Spinning, Diagonally Supported Square Plate
INTRODUCTION TO ENERGY METHODS
Work
Work Done by a Couple
Power
Kinetic Energy
Work-Energy Principles
]Elementary Examples: A Falling Object, The Simple Pendulum, A Mass-Spring System
Sk9idding Vehicle Speeds: Accident Reconstruction Analysis
A Wheel rolling over a Step
The Spinning Diagonally Supported Square Plate
GENERALIZED DYNAMICS: KINEMATICS AND KINETICS
Coordinates, Constraints, and Degrees of Freedom
Holonomic and Nonholonomic Constraints
Vector Function, Partial Velocity, and Partial Angular Velocity
Generalized Forces: Applied (Active) Forces
Generalized Forces: Gravity and Spring Forces
Example: Spring-Supported Particles in a Rotating Tube
Forces that do not Contribute to the Generalized Forces
Generalized Forces: Inertia (Passive) Forces
Examples
Potential Energy
Use of Kinetic Energy to obtain Generalized Inertia Forces
GENERALIZED DYNAMICS: KANE'S EQUATIONS AND LAGRANGE'S EQUATIONS
Kane's Equations
Lagrange's Equations
The Triple-Rod Pendulum
The N-Rod Pendulum
INTRODUCTION TO VIBRATIONS
Solutions of Second-Order Differential Equations
The Undamped Linear Oscillator
Forced Vibration of an Undamped Oscillator
Damped Linear Oscillator
Forced Vibration of a Damped Linear Oscillator
Systems with Several Degrees of Freedom
Analysis and Discussion of Three-Particle Movement: Modes of Vibration
Nonlinear Vibrations
The Method of Krylov and Bogoliuboff
STABILITY
Infinitesimal Stability
A Particle Moving in a Vertical Rotating Tube
A Freely Rotating Body
The Rolling/Pivoting Circular Disk
Pivoting Disk with a Concentrated Mass on the Rim
Rim Mass in the Uppermost Position
Rim Mass in the Lowermost Position
Discussion: Routh-Hurwitz Criteria
BALANCING
Static Balancing
Dynamic Balancing: A Rotating Shaft
Dynamic Balancing: the General Case
Application: Balancing of Reciprocating Machines
Lanchester Balancing Mechanism
Balancing of Multicylinder Engines
Four-Stroke Cycle Engines
Balancing of Four-Cylinder Engines
Eight-Cylinder Engines: The Straight-Eight and the V-8
MECHANICAL COMPONENTS: CAMS
A Survey of Cam Pair types
Nomenclature and Terminology or Typical Rotating Radial Cams with Translating Followers
Grpahical Constructions
Comments on Graphical Construction of Cam Profiles
Analytical Construction of Cam Profiles
Dwell and Linear Rose of the Follower
Use of Singularity Functions
Parabolic Rise Function
Sinusoidal Rise Function
Cycloidal Rise Function
Summary: Listing of Follower Rise Functions
MECHANICAL COMPONENTS: GEARS
Preliminary and Fundamental Concepts: rolling Wheels, Conjugate Action, Involute Curve Geometry
Spur Gear Nomenclature
Kinematics of Meshing Involute Spur Gear Teeth
Kinetics of Meshing Involute Spur Gear Teeth
Sliding and Rubbing between Contacting Involute Spur Gear Teeth
Involute Rack
Gear Drives and Gear Trains
Helical, Bevel, Spiral Bevel, and Worm Gears
INTRODUCTION TO MULTIBODY DYNAMICS
Connection Configuration: Lower Body Arrays
A Pair of Typical Adjoining Bodies: Transformation Matrices
Transformation Matrix Derivatives
Euler Parameters
Rotation Dyadics
Transformation Matrices, Angular Velocity Components, and Euler Parameters
Degrees of Freedom, Coordinates, and Generalized Speeds
Transformation between Absolute and Relative Coordinates
Angular Velocity
Angluar Acceleration
Joint and Mass Center Positions
Mass Center Velocities
Mass Center Accelerations
Kinetics: Applied Forces
Kinetics: Inertia Forces
Multibody Dynamics
INTRODUCTION TO ROBOT DYNAMICS
Geometry, Configuration, and Degrees of Freedom
Transformation Matrices and Configuration Graphs
Angular Velocity of Robot Links
Partial Angular Velocities
Transformation Matrix Derivatives
Angular Acceleration of the Robot Links
Joint and Mass Center Position
Mass Center Velocities, Partial Velocities, and Acceleration
End Effector Kinematics
Kinetics: Applied Forces
Kinetics: Passive Forces
Dynamics: Equations of Motion
Redundant Robots
Constraint Equations and Constraint Forces
Governing Equation Reduction and Solution: Use of Orthogonal Complement Arrays
APPLICATION WITH BIOSYSTEMS, HUMAN BODY DYNAMICS
Human Body Modeling
A Whole-Body Model: Preliminary Considerations
Kinematics: Coordinates
Kinematics: Velocities and Acceleration
Kinetics: Active Forces
Kinetics: Muscle and Joint Forces
Kinetics: Inertia Forces
Dynamics: Equations of Motion
Constrained Motion
Solutions of the Governing Equations
Discussion: Application and Future Development
APPENDICES
INDEX