Modern mechanical and aerospace systems are often very complex and consist of many components interconnected by joints and force elements such as springs, dampers, and actuators. These systems are referred to, in modern literature, as multibody systems. Examples of multibody systems are machines, mechanisms, robotics, vehicles, space structures, and biomechanical systems. | Page iii Computational Dynamics Second Edition Ahmed A. Shabana Department of Mechanical Engineering University of Illinois at Chicago awiley-interscience publication JOHN WILEY SONS INC. NEW YORK CHICHESTER WEINHEIM I BRISBANE SINGAPORE TORONTO Page iv Copyright 2001 by John Wiley Sons Inc. All rights reserved. No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means electronic mechanical photocopying recording scanning or otherwise except as permitted under Sections 107 or 108 of the 1976 United States Copyright Act without either the prior written permission of the Publisher or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center 222 Rosewood Drive Danvers MA 01923 978 750-8400 fax 978 750-4744. Requests to the Publisher for permission should be addressed to the Permissions Department John Wiley Sons Inc. 605 Third Avenue New York NY 10158-0012 212 850-6011 fax 212 850-6008 E-Mail PERMREQ@. This publication is designed to provide accurate and authoritative information in regard to the subject matter covered. It is sold with the understanding that the publisher is not engaged in rendering professional services. If professional advice or other expert assistance is required the services of a competent professional person should be sought. This title is also available in print as ISBN 0-471-37144-0 For more information about Wiley products visit our web site at . Page vii Contents Preface xi Introduction Computational Dynamics 2 Motion and Constraints 4 Degrees of Freedom 6 Kinematic Analysis 9 Force Analysis 12 Dynamic Equations and Their Different Forms 12 Forward and Inverse Dynamics 14 Planar and Spatial Dynamics 16 Computer and Numerical Methods 18 Organization Scope and Notations of the Book 20 Linear Algebra Matrices 23 Matrix Operations 25 Vectors 35 Three-Dimensional Vectors 45
