LEADER 05184nam 2200649Ia 450 001 9910831054103321 005 20201005163544.0 010 $a1-282-37970-4 010 $a9786612379703 010 $a0-470-68685-5 010 $a0-470-68686-3 035 $a(CKB)1000000000822294 035 $a(EBL)470728 035 $a(SSID)ssj0000336059 035 $a(PQKBManifestationID)11286663 035 $a(PQKBTitleCode)TC0000336059 035 $a(PQKBWorkID)10278163 035 $a(PQKB)11458217 035 $a(MiAaPQ)EBC470728 035 $a(OCoLC)535840795 035 $a(CaSebORM)9780470686157 035 $a(PPN)185158323 035 $a(EXLCZ)991000000000822294 100 $a20090811d2010 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aComputational dynamics$b[electronic resource] /$fAhmed A. Shabana 205 $a3rd ed. 210 $aChichester, West Sussex ;$aHoboken $cJohn Wiley & Sons$d2010 215 $a1 online resource (544 p.) 300 $aDescription based upon print version of record. 311 $a0-470-68615-4 320 $aIncludes bibliographical references and index. 327 $aComputational Dynamics; CONTENTS; PREFACE; 1 INTRODUCTION; 1.1 Computational Dynamics; 1.2 Motion and Constraints; 1.3 Degrees of Freedom; 1.4 Kinematic Analysis; 1.5 Force Analysis; 1.6 Dynamic Equations and Their Different Forms; 1.7 Forward and Inverse Dynamics; 1.8 Planar and Spatial Dynamics; 1.9 Computer and Numerical Methods; 1.10 Organization, Scope, and Notations of the Book; 2 LINEAR ALGEBRA; 2.1 Matrices; 2.2 Matrix Operations; 2.3 Vectors; 2.4 Three-Dimensional Vectors; 2.5 Solution of Algebraic Equations; 2.6 Triangular Factorization; *2.7 QR Decomposition 327 $a*2.8 Singular Value DecompositionProblems; 3 KINEMATICS; 3.1 Kinematics of Rigid Bodies; 3.2 Velocity Equations; 3.3 Acceleration Equations; 3.4 Kinematics of a Point Moving on a Rigid Body; 3.5 Constrained Kinematics; 3.6 Classical Kinematic Approach; 3.7 Computational Kinematic Approach; 3.8 Formulation of the Driving Constraints; 3.9 Formulation of the Joint Constraints; 3.10 Computational Methods in Kinematics; 3.11 Computer Implementation; 3.12 Kinematic Modeling and Analysis; 3.13 Concluding Remarks; Problems; 4 FORMS OF THE DYNAMIC EQUATIONS; 4.1 D'Alembert's Principle 327 $a4.2 D'Alembert's Principle and Newton-Euler Equations4.3 Constrained Dynamics; 4.4 Augmented Formulation; 4.5 Lagrange Multipliers; 4.6 Elimination of the Dependent Accelerations; 4.7 Embedding Technique; 4.8 Amalgamated Formulation; 4.9 Open-Chain Systems; 4.10 Closed-Chain Systems; 4.11 Concluding Remarks; Problems; 5 VIRTUAL WORK AND LAGRANGIAN DYNAMICS; 5.1 Virtual Displacements; 5.2 Kinematic Constraints and Coordinate Partitioning; 5.3 Virtual Work; 5.4 Examples of Force Elements; 5.5 Workless Constraints; 5.6 Principle of Virtual Work in Statics 327 $a5.7 Principle of Virtual Work in Dynamics5.8 Lagrange's Equation; 5.9 Gibbs-Appel Equation; *5.10 Hamiltonian Formulation; 5.11 Relationship between Virtual Work and Gaussian Elimination; Problems; 6 CONSTRAINED DYNAMICS; 6.1 Generalized Inertia; 6.2 Mass Matrix and Centrifugal Forces; 6.3 Equations of Motion; 6.4 System of Rigid Bodies; 6.5 Elimination of the Constraint Forces; 6.6 Lagrange Multipliers; 6.7 Constrained Dynamic Equations; 6.8 Joint Reaction Forces; 6.9 Elimination of Lagrange Multipliers; 6.10 State Space Representation; 6.11 Numerical Integration 327 $a6.12 Algorithm and Sparse Matrix Implementation6.13 Differential and Algebraic Equations; *6.14 Inverse Dynamics; *6.15 Static Analysis; Problems; 7 SPATIAL DYNAMICS; 7.1 General Displacement; 7.2 Finite Rotations; 7.3 Euler Angles; 7.4 Velocity and Acceleration; 7.5 Generalized Coordinates; 7.6 Generalized Inertia Forces; 7.7 Generalized Applied Forces; 7.8 Dynamic Equations of Motion; 7.9 Constrained Dynamics; 7.10 Formulation of the Joint Constraints; 7.11 Newton-Euler Equations; 7.12 D'Alembert's Principle; 7.13 Linear and Angular Momentum; 7.14 Recursive Methods; Problems 327 $a8 SPECIAL TOPICS IN DYNAMICS 330 $aComputational Dynamics, 3rd edition, thoroughly revised and updated, provides logical coverage of both theory and numerical computation techniques for practical applications. The author introduces students to this advanced topic covering the concepts, definitions and techniques used in multi-body system dynamics including essential coverage of kinematics and dynamics of motion in three dimensions. He uses analytical tools including Lagrangian and Hamiltonian methods as well as Newton-Euler Equations. An educational version of multibody computer code is now included in this new editi 606 $aDynamics 606 $aMechanics 615 0$aDynamics. 615 0$aMechanics. 676 $a531.11 676 $a620.104 700 $aShabana$b Ahmed A.$f1951-$025049 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910831054103321 996 $aComputational dynamics$91486699 997 $aUNINA