HANDBOOK OF SMALL ELECTRIC MOTORS William H. Yeadon, P.E. Editor in Chief Alan W. Yeadon, P.E. Associate Editor Yeadon Energy Systems, Inc Yeadon Engineering Services, P.C. McGraw-Hill New York Chicago San Francisco Lisbon London Madrid Mexico City Milan New Delhi San Juan Seoul Singapore Sydney Toronto Library of Congress Cataloging-in-Publication Data Handbook of small electric motors / William H.Yeadon, editor in chief, Alan W. Yeadon, associate editor. p. cm. ISBN 0-07-072332-X 1. Electric motors, Fractional horsepower. I. Yeadon, William H. II. Yeadon,Alan W. TK2537 .H34 2001 621.46—dc21 00-048974 Copyright © 2001 by The McGraw-Hill Companies, Inc. All rights reserved. Printed in the United States of America. Except as permitted under the United States Copyright Act of 1976, no part of this publication may be reproduced or distributed in any form or by any means, or stored in a data base or retrieval system, without the prior written permission of the pub- lisher. 1234567890 DOC/DOC 07654321 ISBN 0-07-072332-X The sponsoring editor for this book was Scott Grillo and the production super- visor was Sherri Souffrance.It was set in Times Roman by North Market Street Graphics. Printed and bound by R. R. Donnelley & Sons Company. McGraw-Hill books are available at special quantity discounts to use as pre- miums and sales promotions, or for use in corporate training programs. For more information, please write to the Director of Special Sales, Professional Publishing, McGraw-Hill, Two Penn Plaza, New York, NY 10121-2298. Or contact your local bookstore. This handbook is intended to be used as a reference for information regard- ing the design and manufacture of electric motors. It is not intended to encourage or discourage any motor type, design, or process.Some of the con- figurations or processes described herein may be patented. It is the responsi- bility of the user of this information to determine if any infringement may occur as a result thereof. Information contained in this work has been obtained by The McGraw-Hill Companies, Inc. (“McGraw-Hill”) from sources believed to be reliable. However, neither McGraw-Hill nor its authors guarantee the accuracy or completeness of any informa- tion published herein, and neither McGraw-Hill nor its authors shall be responsible for any errors, omissions, or damages arising out of use of this information. This work is published with the understanding that McGraw-Hill and its authors are supplying information but are not attempting to render engineering or other professional services. If such services are required, the assistance of an appropriate professional should be sought. This handbook is dedicated to my wife, Luci Yeadon, who took most of the photographs for it. William H.Yeadon Editor in Chief CONTRIBUTORS Larry C. Anderson American Hoffman Corporation (Sec. 3.14) John S. Bank Phoenix Electric Manufacturing Company (Sec. 3.15) Warren C. Brown Link Engineering Company (Sec. 3.10.6) Joseph H. Bularzik Magnetics International, Inc. (Sec. 2.5) Peter Caine Oven Systems, Inc. (Sec. 3.16) David Carpenter Vector Fields, Ltd. (contributed the finite-element plots in Chap. 4) John Cocco Loctite Corporation (Sec. 3.17) Philip Dolan Oberg Industries (Sec. 3.10.5) Birch L. DeVault Cutler-Hammer (Sec. 10.6) Brad Frustaglio Yeadon Energy Systems, Inc. (Sec. 6.4) Francis Hanejko Hoeganaes Corporation (Sec. 2.6) Duane C. Hanselman University of Maine (Secs. 5.1.4 and 10.11) Daniel P. Heckenkamp Cutler-Hammer (Sec. 10.6) Leon Jackson LDJ Electronics (Sec. 3.19) Dan Jones Incremotion Associates (Secs. 5.1.3, 10.12, and 10.13) Douglas W. Jones University of Iowa (Secs. 5.2.10 and 10.8 to 10.10) Mark A. Juds Eaton Corporation (Secs. 1.1 to 1.12) Robert R. Judd Judd Consulting Associates (Secs. 2.2 and 2.3) Ramani Kalpathi Dana Corporation (Sec. 10.7) John Kauffman Phelps Dodge Magnet Wire Company (Sec. 2.10) Todd L. King Eaton Corporation (Sec. 10.6) H. R. Kokal Magnetics International, Inc. (Sec. 2.5) Robert F. Krause Magnetics International, Inc. (Sec. 2.5) Barry Landers Electro-Craft Motion Control (Chap. 9) Roger O. LaValley Magnetic Instrumentation, Inc. (Sec. 3.18) Bill Lawrence Oven Systems, Inc. (Sec. 3.16) Andrew E. Miller Software and motor designer (Secs. 4.5, 6.4.3, and 6.4.4) Stanley D. Payne Windamatics Systems, Inc. (Sec. 3.10.4) Derrick Peterman LDJ Electronics (Sec. 3.19) xi Curtis Rebizant Integrated Engineering Software (contributed the boundary ele- ment plots in Figs. 5.58 to 5.61) Earl F. Richards University of Missouri (Secs. 1.14, 4.1, 6.2, 6.3, and 8.4 to 8.8) Robert M. Setbacken Renco Encoders, Inc. (Secs. 10.1 to 10.5) Karl H. Schultz Schultz Associates (Secs. 3.1 to 3.9) Joseph J. Stupak Jr. Oersted Technology Corporation (Sec. 2.8) Chris A. Swenski Yeadon Energy Systems, Inc. (Secs. 3.6.5, 6.4, and 7.4) Harry J. Walters Oberg Industries (Sec. 3.10.5) Alan W. Yeadon Yeadon Engineering Services, PC (Secs. 3.10, 3.11, and 4.2 to 4.5) Luci Yeadon Luci’s Photography (contributed most of the photographs in this handbook) William H. Yeadon Yeadon Engineering Services, PC (Secs. 1.13, 2.1, 2.9, 2.11, 3.10 to 3.12, 4.3, 4.6 to 4.8, 5.1 to 5.3, 6.1, 6.4, 7.1 to 7.4, and 8.1 to 8.3) xii CONTRIBUTORS ACKNOWLEDGMENTS Over the course of my career I have had the privilege to meet many of the giants of this industry. Many I have met through my association with the Small Motors and Motion Association (SMMA) and others through business relationships. Included among them are Dr. Cyril G. Veinott, Professor Philip H. Trickey, Dr. Ben Kuo, Dr. Duane Hanselman, and those authors who have contributed to this handbook. There is, however, one person of whom I must make special mention. He is Dr. Earl Richards, Professor Emeritus of the University of Missouri at Rolla. This man never ceases to amaze me. He is always willing to help out selflessly with projects of this type. I have taught many motor design courses with him. When a student asks questions of him, he can start at the lowest level of understanding necessary and develop in a very understandable way a logical and reasonable answer to the ques- tion. His ability to communicate and teach is truly amazing. He has been very help- ful in the preparation of this book. I also need to acknowledge the dedication of my secretary, Kristina Wodzinski. Without her tireless effort this work would not have been completed. xv ABOUT THE CONTRIBUTORS LARRY C.ANDERSON (Sec. 3.14) is an applications consultant with American Hofmann Corpo- ration, one of the world’s leading manufacturers of precision balancing machines. He has been with the company since 1990 and performs unbalance analysis on rotating assemblies for man- ufacturers worldwide. He holds a BS degree in electrical engineering technology and has over 20 years experience, with the past 8 focused on the electric motor industry. J OHN S. BANK (Sec. 3.15) is the executive vice president of Phoenix Electric Manufacturing Company and is responsible for coordinating new product development and developing advanced strategies. He received his bachelor’s degree in business administration (magna cum laude) from the University of Michigan in 1981 and his JD from UCLA in 1984. He is also a Certified Public Accountant in the state of Illinois (1981) and a licensed real estate broker in the state of Illinois (1981). Mr. Bank currently serves on the board of directors of SMMA (1995–present) and EMERF (1997–present). He is the Company Representative and Voting Member of NEMA (1992–present), EMCWA (1992–present) and NAM (1992–present). WARREN C. BROWN (Sec. 3.10.6) graduated with a BSME from Michigan State University in 1966 and with an MBA from Michigan State University in 1968. He was the Manager/Director MIS of Burroughs Corporation in Detroit, Michigan, from 1968 to 1982. He directed sales and marketing at Link Engineering Company from 1982 to 1990. Since 1990,he has been vice pres- ident for motor products of Link Engineering Company. He has been a member of SAE,ESD, and SMMA. J OSEPH H. B ULARZIK (Sec. 2.5) is a staff engineer. He received a BS in chemistry from Arizona State University,Tempe, in 1982. He received a PhD in chemistry from the University of Cali- fornia, Berkeley, in 1987. He conducted postdoctoral research in the field of superconducting oxides at Princeton University, Princeton,New Jersey, in 1989. He was an assistant professor of chemistry at Lycoming College, Williamsport, Pennsylvania, from 1987 to 1989. He has seven years of experience in magnetic materials research. He is a member of ASM. He has worked in research for Magnets International, Inc., East Chicago, Indiana, since 1994, and he worked in research at Inland Steel Company, East Chicago, Indiana, from 1990 to 1994. P ETER CAINE (Sec. 3.16) graduated from the University of Wisconsin in Platteville with a BS in industrial engineering. His career at Oven Systems,Inc., has included applications engineering, custom product sales, and management. For the past three years, he has managed the electric motor equipment division. DAVID CARPENTER (Chap. 4 finite-element plots) received a first-class honors BSc in electri- cal engineering from the University of Southampton, England, in 1979 and joined GEC Ltd. as an induction motor design engineer. In 1986 to 1987 he was appointed as visiting professor at Lakehead University, Canada, and in the following year he received an MSc from Coven- try University, England.After joining Vector Fields Ltd. as an application engineer in 1991, he received a PhD from the University of Bath, England, in 1993. He was appointed to the posi- tion of vice president of Vector Fields, Inc., United States, in 1995. He is a Charter Engineer and a member of the IEEE. JOHN COCCO (Sec. 3.17) is the director of Loctite Corporation’s North American Application Engineering Center.For the past 10 years, he has been working with Loctite Corporation’s cus- C.1 tomer base, developing adhesive and sealant applications for use in small motors. In the past two years, he has conducted several design seminars at original equipment manufacturers focusing on this topic. He holds a bachelor’s degree in chemical engineering and is a licensed Professional Engineer. PHILIP DOLAN (Sec. 3.10.5) graduated from Marquette University with a BA.He was vice pres- ident of Marketing for Oberg Industries and had previous experience in plant management and strategic planning. BIRCH L. DE VAULT (Sec.10.6) was born in Pittsburgh, Pennsylvania,in 1946. He received a BS in electrical engineering from the University of Pittsburgh in 1967. He joined the Westing- house Electrical Graduate Student Course in 1967. In 1968, he joined the Westinghouse Stan- dard Control Division, Beaver, Pennsylvania, as an associate design engineer. In 1981, he joined the Control Division in Asheville, North Carolina.Since February of 1994, he has been a senior development engineer with Cutler-Hammer, Milwaukee, Wisconsin, responsible for the design and application of magnetic motor control. He is a Registered Professional Engi- neer in the state of Pennsylvania. He has eight patents in the area of motor control. He is a member of IEEE. He has published papers related to motor control in TAPPI and IEEE pub- lications. B RAD FRUSTAGLIO (Sec. 6.4) has a BSME from Michigan Technological University and is a design engineer for Yeadon Energy Systems, Inc. F RANCIS HANEJKO (Sec. 2.6) is a metallurgical engineer and received his BS and MS degrees from Drexel University. He has been employed by the Hoeganaes Corporation for 22 of the last 25 years. During that time, he has held numerous positions in the sales and marketing and research and development departments. His current position is manager of electromagnetics and customer applications in the research and development department, with responsibilities for customer service and product development. He is a past chairman of the Philadelphia Sec- tion of the APMI. D UANE C. H ANSELMAN (Secs.5.1.4 and 10.11) is an associate professor in electrical engineering at the University of Maine. He holds PhD and MS degrees from the University of Illinois. He is a senior member of IEEE and an associate editor of the IEEE Transactions of Industrial Electronics. He is the author of numerous articles on motors and motion control. He has pub- lished several textbooks, including Brushless Permanent-Magnet Motor Design and MATLAB Tools for Control System Analysis and Design (McGraw-Hill, 1994). D ANIEL P. H ECKENKAMP (Sec. 10.6) received his BS in mechanical engineering from the Uni- versity of Wisconsin, Milwaukee, in 1983. In 1981, he joined the Square D Company in Mil- waukee, where he was responsible for the design of industrial lifting magnets and their applications. In 1983, he transferred to the Square D Controls Division, where he was respon- sible for contactor development. He joined Cutler-Hammer’s controls division in 1988 as a product development engineer, where he has been responsible for the design and maintenance of contactors and overload relays. His current position is principal engineer. L EON JACKSON (Sec. 3.19) received an AS from Port Huron Junior College in 1957. He also received a BS in electrical engineering from Wayne State University in 1960. He also attended the University of Loyola for business administration. He received honors from the Tau Betta Pi educational honor society and the Etta Kappa Nu engineering honor society for academic achievement. He has worked for General Magnetic Corporation and LDJ Electronics, Inc., where he is currently president. He is a member of the IEEE Magnetics Society. DAN JONES (Secs. 5.1.3, 10.12, and 10.13) has a BSEE from Hofstra University and a MS in mathematics from Adelphi University. He is a member of ASME, IEEE, ISA, and AIME. He has 38 years experience in the motor business. He founded Incremotion Associates in 1982 and has previously worked for such companies as Vernitron, Printed Motors, Inc., Singer-Kearfott, Electro-Craft Corporation, Data Products Corporation and IMC Magnets Corporation. C.2 ABOUT THE CONTRIBUTORS DOUGLAS W. JONES (Secs. 5.2.10 and 10.8 to 10.10) is an associate professor of computer sci- ence at the University of Iowa. He received his PhD in computer science from the University of Illinois, Urbana, in 1980. He completed his BS in physics at Carnegie-Mellon University in 1973. His research interests are discrete event simulation, resource protection in architecture, operating systems, system Programming Languages, and the history of computing. MARK A. J UDS (Secs. 1.1 to 1.12) has BS and MS degrees in mechanical engineering from the University of Wisconsin. He is currently a senior principal engineer for Eaton Corporation’s Innovations Center, where he designs electromagnetic devices. He also has expertise in heat transfer and mechanical dynamics. R OBERT R. J UDD (Secs.2.2 and 2.3) is currently president of Judd Consulting Associates, Inc., a general ferrous metallurgy and electrical-sheet consulting firm. He acquired his doctorate in materials science from Carnegie-Mellon University and holds a bachelor’s degree in mechani- cal engineering from the University of Rochester. He spent 30 years in principal research posi- tions for U.S. Steel and Ispat-Inland. For three years he served as director of research and development for Johnstown Corporation, a large ferrous foundry and fabrication firm. He has also taught general metallurgy at Carnegie-Mellon University. His professional activities include ASM, AIME, MPIF and the ASTM A-6 subcommittee on magnetics. He is also the treasurer and organizing committee member of the annual Conference on the Properties and Application of Magnetic Materials. He holds patents in the powder metallurgy and soft mag- netic material fields. R AMANI KALPATHI (Sec. 10.7) was a senior project engineer with Dana Corporation. He com- pleted his PhD in electrical engineering at Texas A&M University in 1994 and has been with Dana for the past five years. Recently he has returned home to start his own consulting firm in Madras, India. His interests are in the areas of power electronics and control of switched- reluctance motors. JOHN KAUFFMAN (Sec. 2.10) graduated from Purdue University with a BA in industrial eco- nomics in 1963. He has worked for Phelps Dodge Magnet Wire Company for 35 years. He holds four patents for magnet wire and cable products and equipment. TODD L. KING (Sec. 10.6) received BS and MS degrees in electrical engineering from the Uni- versity of Wisconsin-Madison in 1978 and 1980,respectively.He joined Borg Warner Corporate Research Center,Des Plaines, Illinois,in 1980, where he worked in analysis of motors and actu- ators and the design of automotive controls, actuators, and sensors.He joined Eaton Corporate Research and Development Center, Milwaukee, Wisconsin, in 1988 as a senior engineer spe- cialist, where he worked in the design of actuators for appliance, automotive, aerospace, hydraulic, and truck products. He also worked in the design and analysis of commercial and industrial motor controls. He became the engineering manager for the Design Analysis Tech- nology Group in 1990 and added systems technology in the Eaton Innovation Center,where he has responsibility for defining the strategic direction of systems technology for the corporation. HAROLD R. KOKAL (Sec. 2.5) is a senior staff engineer. He received his BS and MS degrees in metallurgical engineering from the University of Minnesota, Minneapolis, in 1964 and 1970, respectively. He has 30 years experience in process and product research. He is a member of APMI and AIME. He has worked in research at Magnetics International, Inc., East Chicago, Indiana, since 1992. He worked in research at Inland Steel Company, East Chicago, Indiana, from 1985 to 1992, and at U.S. Steel Corporation, Coleraine, Minnesota, and Monroeville, Pennsylvania, from 1968 to 1985.He was an MRRC Research Fellow at the University of Min- nesota, Minneapolis, from 1965 to 1966. ROBERT F. KRAUSE (Sec. 2.5) is a technical director. He received his BS and PhD degrees in material science from Notre Dame University, South Bend, Indiana, in 1962 and 1966, respec- tively. He has 31 years experience in metallurgy and magnetic materials.He is a member of the ASM and IEEE. He has worked in research at Magnetics International, Inc., Burns Harbor, Indiana, since 1991. He worked in research at Inland Steel Company, East Chicago, Indiana, ABOUT THE CONTRIBUTORS C.3 from 1987 to 1991; at Crucible Steel Company, Pittsburgh, Pennsylvania, from 1986 to 1987; at Westinghouse Electric Corporation, Churchill, Pennsylvania, from 1972 to 1986; and at U.S. Steel Corporation, Monroeville, Pennsylvania, from 1966 to 1972. BARRY L ANDERS (Chap. 9) has 24 years of experience in the design and testing of ac and dc motors, including writing electrical and mechanical design and testing software for fractional- horsepower ac, brush DC, and brushless dc motors, as well as for fine-pitch custom gearing. In addition, he has 17 years of experience in spectral analysis of sound, vibration, and current on these motor types and on ball bearings as received, as well as in failure analysis of field prob- lems. As a senior project engineer and registered Professional Engineer, he currently has responsibility for an engineering development, analysis, and test group for ac and dc products at Electro-Craft Motion Control, Gallipolis, Ohio (a Rockwell Automation business). R OGER O. LAVALLEY (Sec. 3.18) is a senior application engineer with Magnetic Instrumenta- tion, Inc. He has 25 years experience in the area of magnetic applications. In his present posi- tion he is responsible for reviewing customer requirements for the magnetizing, demagnetizing, and measuring of permanent magnets and magnet assemblies and for propos- ing the appropriate equipment and complete systems. BILL LAWRENCE (Sec. 3.16) has a BSME and an MBA from Marquette University. He has worked in sales of servo electric motors at Moog, Inc., and in sales of specialty motors at Doerr Electric. He is currently the vice president of Oven Systems, Inc. ANDREW E. MILLER (Secs. 4.5, 6.4.3, and 6.4.4) has a BS in chemical engineering from Michi- gan Technological University. He has several years of experience in software design and three years of experience in the motor design industry. STANELY D. PAYNE (Sec. 3.10.4) is the vice president engineer at Windamatics Systems, Inc., Fort Wayne, Indiana. DERRICK PETERMAN (Sec. 3.19) has over eight years experience with magnetics research and instrumentation. He completed a BA in physics at Washington University, St. Louis, Missouri, in 1989 and a PhD in physics at Ohio State University in 1996. He currently holds the position of magnetic measurement specialist at LDJ Electronics. CURTIS REBIZANT (Figs. 5.58 to 5.61 boundary element plots) is an engineer at Integrated Engi- neering Software, which produces and markets software for electromagnetic, thermal, and structural system simulation. He has a BS in electrical engineering from the University of Man- itoba and has extensive experience with electromagnetic CAE software. EARL F. RICHARDS (Secs. 1.14, 4.1, 6.2, 6.3, and 8.4 to 8.8) is Professor Emeritus of Electrical Engineering in the School of Engineering, University of Missouri, Rolla. He received his PhD from the University of Missouri. He has 16 years of field experience in motor design and over 36 years of experience in the instruction of motor technology. His professional emphasis is on electromechanical, power, and control systems. He currently instructs graduate-level engineer- ing courses and is frequently sought as an industrial and legal consultant. ROBERT M. SETBACKEN (Secs. 10.1 to 10.5) is vice president of engineering at Renco Encoders, Inc. He received his MSME degree in 1979. He has developed and tested analog and digital electromechanical and hydraulic servosystems for the military and commercial interests. Since joining Renco in 1990, he has been involved with the design and manufacture of incremental rotary optical encoders for the industrial and office automation industries. KARL H. SCHULTZ (Secs. 3.1 to 3.9) holds a BSME from Western Michigan University. He is a senior member of SME and a member of SMMA. He has 25 years experience in manufactur- ing and management with such companies as General Signal, General Electric, Emerson Elec- tric, Clark Equipment, Chrysler, and Cincinnati Milacron, and his own consulting firm. C.4 ABOUT THE CONTRIBUTORS [...]... contributed most of the photographs for the book WILLIAM H YEADON, P.E (Secs 1. 13, 2 .1, 2.9, 2 .11 , 3 .10 to 3 .12 , 4.3, 4.6 to 4.8, 5 .1 to 5.3, 6 .1, 6.4, 7 .1 to 7.4, and 8 .1 to 8.3) is president of Yeadon Engineering Services, PC, and Yeadon Energy Systems, Inc He is a graduate of the University of Dayton and has 33 years experience in the motor industry He has expertise in the areas of design and development,... Industries ALAN W YEADON, P.E (Secs 3 .10 , 3 .11 , and 4.2 to 4.5) is vice president of Yeadon Engineering Services, PC, and Yeadon Energy Systems Inc He holds a BSEE degree from the University of Illinois He has 12 years experience in product design, consulting for the motor industry, and development of software for electric motor design and analysis LUCI YEADON is the owner of Luci’s Photography, Stambaugh,... California Institute of Technology, Pasadena, California, in 19 65 and 19 69, respectively He is a licensed Professional Engineer in the state of California, in the field of control He has been a senior engineer; chief scientist with Synektron Corporation, a manufacturer of brushless dc motors; and a professor at California Polytechnic Institute He worked as an independent consultant in the fields of magnetics... Society of Professional Engineers (NSPE), and the Institute of Electrical and Electronics Engineers, Inc (IEEE) He currently writes and teaches courses for the SMMA and EMCWA, designs motors, and is a consultant He has more than 30 years of experience in electric motors, holding positions in design and development, management, production, and quality control with companies that include Redmond Motors, A... with companies that include Redmond Motors, A O Smith, Warner Electric, and the motor division of Barber-Colman Company He has design and development experience in electric motors and generators including ac induction motors, dc permanent-magnet and wound-field motors, and electronically commutated, brushless dc, stepper, and switched-reluctance motors He has done failure analysis and served as a manufacturing... He is a graduate of the University of Dayton and is a registered professional engineer in Michigan, Ohio, Illinois, and Wisconsin ALAN W YEADON, P.E holds a BSEE degree from the University of Illinois He assisted in the establishment of the SMMA motor college and has taught PMDC motor design classes He has design experience in ac induction motors, dc permanentmagnet and wound-field motors, electronically... induction motors, dc permanentmagnet and wound-field motors, electronically commutated bushless dc, and switched-reluctance motors He has 12 years experience in product design, consulting, and development of software for electric motor of design and analysis He is a registered professional engineer in Michigan and Illinois ... for such companies as Redmond Motors, A O Smith, Warner Electric, and Barber Colman He is an instructor with the SMMA Motor College ABOUT THE EDITORS WILLIAM H YEADON, P.E is the president of Yeadon Engineering Services, PC, and Yeadon Energy Systems, Inc He helped to establish the motor college for the Small Motor and Motion Association (SMMA) He is a member of SMMA, Electrical Manufacturing and Coil... consultant in the fields of magnetics and electromagnetics for 10 years, and included the U.S Naval Undersea Warfare Center, Newport, Rhode Island, among his major clients He is now the president of Oersted Technology Corporation, Portland, Oregon, a manufacturer of magnetizing equipment and instruments for the magnetics industry He has 16 issued patents, with 3 more applied for, and has published 20... papers He speaks Danish and German, as well as native U.S English He is a member of the IEEE He is an amateur magician and is a licensed commercial pilot with instrument rating CHRIS A SWENSKI (Secs 3.6.5, 6.4, and 7.4) is an engineering technician for Yeadon Energy Systems, Inc HARRY J WALTERS (Sec 3 .10 .5) is a graduate of the Johns Hopkins University in mechanical engineering He has patents in press . Cutler-Hammer (Sec. 10 .6) Leon Jackson LDJ Electronics (Sec. 3 .19 ) Dan Jones Incremotion Associates (Secs. 5 .1. 3, 10 .12 , and 10 .13 ) Douglas W. Jones University of Iowa (Secs. 5.2 .10 and 10 .8 to 10 .10 ) Mark. Services, PC (Secs. 1. 13, 2 .1, 2.9, 2 .11 , 3 .10 to 3 .12 , 4.3, 4.6 to 4.8, 5 .1 to 5.3, 6 .1, 6.4, 7 .1 to 7.4, and 8 .1 to 8.3) xii CONTRIBUTORS ACKNOWLEDGMENTS Over the course of my career I have. book. WILLIAM H. YEADON, P.E. (Secs. 1. 13, 2 .1, 2.9, 2 .11 , 3 .10 to 3 .12 , 4.3, 4.6 to 4.8, 5 .1 to 5.3, 6 .1, 6.4, 7 .1 to 7.4, and 8 .1 to 8.3) is president of Yeadon Engineering Services, PC, and