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Advanced Engineering Dynamics - H. R. Harrison & T. Nettleton

This document covers several topics in classical mechanics and dynamics including Newtonian mechanics, Lagrange's equations, Hamilton's principle, rigid body motion, vehicle dynamics, impact and wave propagation, waves in elastic solids, robot arm dynamics, and relativity. It introduces fundamental concepts such as mass, force, energy, momentum, kinematics, kinetics, and equations of motion. It also discusses specific applications including central force problems, satellite motion, aircraft and vehicle stability, wave reflection, robot arm kinematics and kinetics, and principles of special relativity. The document serves as a comprehensive reference on classical and analytical mechanics.

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368 views2 pages

Advanced Engineering Dynamics - H. R. Harrison & T. Nettleton

This document covers several topics in classical mechanics and dynamics including Newtonian mechanics, Lagrange's equations, Hamilton's principle, rigid body motion, vehicle dynamics, impact and wave propagation, waves in elastic solids, robot arm dynamics, and relativity. It introduces fundamental concepts such as mass, force, energy, momentum, kinematics, kinetics, and equations of motion. It also discusses specific applications including central force problems, satellite motion, aircraft and vehicle stability, wave reflection, robot arm kinematics and kinetics, and principles of special relativity. The document serves as a comprehensive reference on classical and analytical mechanics.

Uploaded by

mach20_aardvark8064
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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1 Newtonian Mechanics....................................................

8
1.1 Introduction..................................................... 8
1.2 Fundamentals..................................................... 8
1.3 Space and time................................................... 9
1.4 Mass............................................................. 10
1.5 Force............................................................ 12
1.6 Work and power................................................... 12
1.7 Kinematics of a point............................................ 13
1.8 Kinetics of a particle........................................... 18
1.9 Impulse.......................................................... 19
1.10 Kinetic energy.................................................. 20
1.11 Potential energy................................................ 20
1.12 Corioliss theorem.............................................. 21
1.13 Newtons laws for a group of particles.......................... 22
1.14 Conservation of momentum........................................ 24
1.15 Energy for a group of particles................................. 24
1.16 The principle of virtual work................................... 25
1.17 DAlemberts principle.......................................... 26
2 Lagranges Equations................................................... 28
2.1 Introduction..................................................... 28
2.2 Generalized co-ordinates......................................... 30
2.3 Proof of Lagranges equations.................................... 32
2.4 The dissipation function......................................... 34
2.5 Kinetic energy................................................... 36
2.6 Conservation laws................................................ 38
2.7 Hamiltons equations............................................. 40
2.8 Rotating frame of reference and velocity-dependent potentials.... 42
2.9 Moving co-ordinates.............................................. 46
2.10 Non-holonomic systems........................................... 48
2.11 Lagranges equations for impulsive forces....................... 50
3 Hamiltons Principle................................................... 53
3.1 Introduction..................................................... 53
3.2 Derivation of Hamiltons principle............................... 54
3.3 Application of Hamiltons principle.............................. 56
3.4 Lagranges equations derived from Hamiltons principle........... 58
3.5 Illustrative example............................................. 59
4 Rigid Body Motion in Three Dimensions.................................. 62
4.1 Introduction..................................................... 62
4.2 Rotation......................................................... 62
4.3 Angular velocity................................................. 65
4.4 Kinetics of a rigid body......................................... 66
4.5 Moment of inertia................................................ 68
4.6 Eulers equation for rigid body motion........................... 71
4.7 Kinetic energy of a rigid body................................... 72
4.8 Torque-free motion of a rigid body............................... 74
4.9 Stability of torque-free motion.................................. 79
4.10 Eulers angles.................................................. 82
4.11 The symmetrical body............................................ 83
4.12 Forced precession............................................... 87
4.13 Epilogue........................................................ 90
5 Dynamics of Vehicles................................................... 92
5.1 Introduction..................................................... 92
5.2 Gravitational potential.......................................... 92
5.3 The two-body problem............................................. 95
5.4 The central force problem........................................ 97
5.5 Satellite motion.................................................100
5.6 Effects of oblateness............................................107
5.7 Rocket in free space.............................................110
5.8 Non-spherical satellite..........................................113
5.9 Spinning satellite...............................................114

5.10 De-spinning of satellites.......................................114


5.11 Stability of aircraft...........................................116
5.12 Stability of a road vehicle.....................................125
6 Impact and One-Dimensional Wave Propagation............................132
6.1 Introduction.....................................................132
6.2 The one-dimensional wave.........................................132
6.3 Longitudinal waves in an elastic prismatic bar...................135
6.4 Reflection and transmission at a boundary........................137
6.5 Momentum and energy in a pulse...................................139
6.6 Impact of two bars...............................................140
6.7 Constant force applied to a long bar.............................143
6.8 The effect of local deformation on pulse shape...................145
6.9 Prediction of pulse shape during impact of two bars..............148
6.10 Impact of a rigid mass on an elastic bar........................152
6.11 Dispersive waves................................................156
6.12 Waves in a uniform beam.........................................162
6.13 Waves in periodic structures....................................168
6.14 Waves in a helical spring.......................................170
7 Waves in a Three-Dimensional Elastic Solid.............................179
7.1 Introduction.....................................................179
7.2 Strain...........................................................179
7.3 Stress...........................................................183
7.4 Elastic constants................................................184
7.5 Equations of motion..............................................185
7.6 Wave equation for an elastic solid...............................186
7.7 Plane strain.....................................................191
7.8 Reflection at a plane surface....................................193
7.9 Surface waves (Rayleigh waves)...................................196
7.10 Conclusion......................................................199
8 Robot Arm Dynamics.....................................................201
8.1 Introduction.....................................................201
8.2 Typical arrangements.............................................201
8.3 Kinematics of robot arms.........................................204
8.4 Kinetics of a robot arm..........................................230
9 Relativity.............................................................242
9.1 Introduction.....................................................242
9.2 The foundations of the special theory of relativity..............242
9.3 Time dilation and proper time....................................247
9.4 Simultaneity.....................................................248
9.5 The Doppler effect...............................................249
9.6 Velocity.........................................................253
9.7 The twin paradox.................................................256
9.8 Conservation of momentum.........................................257
9.9 Relativistic force...............................................259
9.10 Impact of two particles.........................................261
9.11 The relativistic Lagrangian.....................................263
9.12 Conclusion......................................................265
Problems.................................................................268
Appendix 1 - Vectors, Tensors and Matrices...............................279
Appendix 2 - Analytical Dynamics.........................................288
Appendix 3 - Curvilinear Co-ordinate Systems.............................295
Bibliography.............................................................304
Index....................................................................306

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