Advanced Engineering Dynamics 2010 Part 1 pdf

... important. Contents Preface 1 Newtonian Mechanics 1. 1 1. 2 1. 3 1. 4 1. 5 1. 6 1. 7 1. 8 1. 9 1. 10 1. 11 1. 12 1. 13 1. 14 1. 15 1. 16 1. 17 Introduction Fundamentals Space and time Mass Force ... Systems 15 5 16 1 1 63 17 2 17 2 17 2 17 6 17 7 17 8 17 9 18 4 18 6 18 9 19 2 19 4 19 4 19 4 19 7 223 235 235 235 240 24 1 242 246 249 2...

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... m2(r2& + 2wi2) or (5 .15 ) o = 1 ~(m,r~w) = z 1 g(m2r:w) rl Substituting equation (5 .12 ) into equation (5 .14 ) gives lF1 21 = p2s + CLj: (5 .16 ) Now 2 2 L, = mlrl ... velocities from equation (4.80) gives 1 1 1 2 2 2 T = - I,$ + - 1, b2 sin2@ + - z3 (b cos e + w)’ (4.82) Dynamics of Vehicles 5 .1 Introduction A vehicl...

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... 229 The ce, o se, se, o -ce2 1 0 0 00 0 0 l[42 = I overall transformation matrix is 0 :I 1 :j 1 d3 ,[TI3 = oPI3 = o[A]i 1[ Al2 ,[AI3 1 ce,ce, se, ce,se, d3ce,se2 se,ce, ... o Thus C, - [I, + r3 + m2a2 + m3 (d3 - b) 16 , - 2m,ci,B,(d3 - b) = o Fig. 8.27 2 16 Robot arm dynamics 1 1 -SO, -CB,Ca, CB,Sa, -a,SB, CB, -SB,Ca,...

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Ngày tải lên: 10/08/2014, 20:20

... ith particle can be obtained by forming the vector product with ri of both sides of equation (1. 44) ri X f, + ri x Fi = ri X miri (1. 51) i Summing equation (1. 5 1) over n particles ... Thus equation (1. 53) can be written Newton 's laws for a group of particles 15 1. 13 Newton's laws for a group of particles Consider a group of n particles...

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... particles D’ Alembert’s principle gives F, + f; - dt (p,) 6xl = 0, 1 5 i S 3N ?( dl 1; ?( Fl +f; - ;il dl (PI) 64 dt = 0 ?( 1 Fl% dt - 1 - wt - [Pl6X 11 ... that t2 r= L 61, t r=O -f [: (g)2-L(2)2] 2 ax dxdt=O Carrying out the variation t2 +=L s,,.Lo[ p‘(&)6($) -T($)6($)pd2=O (3 .15 ) (3 .16 ) (3 .17 ) (3 .18 ) To keep...

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... = 1, I Fig. 4 .11 13 C (I, = I,) Torque-free motion of a rigid body 67 If principal axes are chosen then r‘l, + m 21, + n’~, = I (4.53) The equation 2 + F + 7 = 1 is ... the moment of momentum 2 I1 2 I, 7 12 I3 2TIl = L, + - L2 + - L; Fig. 4 .13 Binet diagram: ellipsoid principal axes 1, 2,3, sphere radius 1. 1 ... and dividing thro...

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... + Crk (5.84) (5.85) (5.86) 10 0 Dynamics of vehicles c = -1 1& quot; dr = (d2 + r3/6)- 1& quot; YK 2 41 + r2) JK - - -[ JK 1& quot; 7 1 tan(6/2) + 5tan3(e/2) ll (5.54) ... gives L' -12 . dA - r0 =- 22 dt L' ba t = A = -(0 - esinca) 2 2 Using equations (5.37) and (5.38) Fig. 5 .1 1 11 0 Dynamics of vehicles Fi...

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... Fig. 6 .12 14 8 Impact and one-dimensional wave propagation Fig. 6. 21 Fig. 6.22 Maximum strain at x = L for various period numbers, n 1 2 1 2 1 X’L - (M + pAL/3) V 1 1 2 ... 1 - ( )n+i] (6.39) and T: Fig. 6 .1 1 13 4 Impact and one-dimensional wave propagation Fig. 6 .10 At x = -L the strain is always zero and hence g:-, (c,t + (-L)...

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... dt + GWdt = 0 (6 .1 18) Using equations (6 .10 5), (6 .10 6), (6 .1 13), (6 .1 16) and (6 .1 17), equation (6 .11 8) may be written J: Ji { [ -PAY,, + KGA(v, - 0. ~1 dv . . . + [ ... (6 .10 1) Lp~ av ’ Waves in a helical spring 16 7 will separate into two groups of three. So, substituting equations (6 .15 7), (6 .15 8) and (6 .15 9) into equations (6...

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