THE

ENGINEERING
H A N D B O O K
SECOND EDITION
The Electrical Engineering Handbook Series
Series Editor
Richard C. Dorf
University of California, Davis

Titles Included in the Series

The Handbook of Ad Hoc Wireless Networks, Mohammad Ilyas
The Avionics Handbook, Cary R. Spitzer
The Biomedical Engineering Handbook, Second Edition, Joseph D. Bronzino
The Circuits and Filters Handbook, Second Edition, Wai-Kai Chen
The Communications Handbook, Second Edition, Jerry Gibson
The Computer Engineering Handbook, Vojin G. Oklobdzija
The Control Handbook, William S. Levine
The CRC Handbook of Engineering Tables, Richard C. Dorf
The Digital Signal Processing Handbook, Vijay K. Madisetti and Douglas Williams
The Electrical Engineering Handbook, Second Edition, Richard C. Dorf
The Electric Power Engineering Handbook, Leo L. Grigsby
The Electronics Handbook, Jerry C. Whitaker
The Engineering Handbook, Second Edition, Richard C. Dorf
The Handbook of Formulas and Tables for Signal Processing, Alexander D. Poularikas
The Handbook of Nanoscience, Engineering, and Technology, William A. Goddard, III,
Donald W. Brenner, Sergey E. Lyshevski, and Gerald J. Iafrate
The Handbook of Optical Communication Networks, Mohammad Ilyas and
Hussein T. Mouftah
The Industrial Electronics Handbook, J. David Irwin
The Measurement, Instrumentation, and Sensors Handbook, John G. Webster
The Mechanical Systems Design Handbook, Osita D.I. Nwokah and Yidirim Hurmuzlu
The Mechatronics Handbook, Robert H. Bishop
The Mobile Communications Handbook, Second Edition, Jerry D. Gibson
The Ocean Engineering Handbook, Ferial El-Hawary
The RF and Microwave Handbook, Mike Golio
The Technology Management Handbook, Richard C. Dorf
The Transforms and Applications Handbook, Second Edition, Alexander D. Poularikas
The VLSI Handbook, Wai-Kai Chen

Forthcoming Titles
The Electrical Engineering Handbook, Third Edition, Richard C. Dorf
The Electronics Handbook, Second Edition, Jerry C. Whitaker
 THE

ENGINEERING
H A N D B O O K
SECOND EDITION

Editor-in-Chief
Richard C. Dorf
University of California, Davis

CRC PRESS

Boca Raton London New York Washington, D.C.

1586_C000.fm Page iv Thursday, May 20, 2004 3:04 PM

Library of Congress Cataloging-in-Publication Data

The engineering handbook / editor-in-chief, Richard C. Dorf.

p. cm.
Includes bibliographical references and index.
ISBN 0-8493-1586-7 (alk. paper)
1. Engineering—Handbooks, manuals, etc. I. Dorf, Richard C.

TA151.E424 2004
620—dc22 2003069766

This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted with
permission, and sources are indicated. A wide variety of references are listed. Reasonable efforts have been made to publish
reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials
or for the consequences of their use.

Neither this book nor any part may be reproduced or transmitted in any form or by any means, electronic or mechanical,
including photocopying, microfilming, and recording, or by any information storage or retrieval system, without prior
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All rights reserved. Authorization to photocopy items for internal or personal use, or the personal or internal use of specific
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Visit the CRC Press Web site at www.crcpress.com

© 2005 by CRC Press LLC

No claim to original U.S. Government works

International Standard Book Number 0-8493-1586-7
Library of Congress Card Number 2003069766
Printed in the United States of America 1 2 3 4 5 6 7 8 9 0
Printed on acid-free paper

© 2005 by CRC Press LLC

1586_C000.fm Page v Thursday, May 20, 2004 3:04 PM

Preface

Due to the success of the first edition of The Engineering Handbook published in 1995 I am pleased to
provide the second edition ten years later fully updated and expanded.

Purpose
The purpose of The Engineering Handbook, Second Edition is to provide in a single volume a ready
reference for the practicing engineer in industry, government, and academia. The book in its compre-
hensive format is divided into 30 sections which encompass the field of engineering and includes 19
brand new chapters and 131 fully updated contributions. The goal is to provide the most up-to-date
information in the classical fields that comprise mechanical, electrical, civil, chemical, industrial, and
aerospace engineering as well as the underlying fields of mathematics, materials, biomedical engineering,
and nanotechnology. This book should serve the information needs of all professional engineers engaged
in the practice of the profession whether in industry, education, or government. The goal of this com-
prehensive handbook is to replace a myriad of books with one highly informative, well-organized,
definitive source of fundamental knowledge.

Organization
The fundamentals of engineering have evolved to include a wide range of knowledge, substantial empirical
data, and a broad range of practice. The focus of the handbook is on the key concepts, models, and
equations that enable the engineer to analyze, design, and predict the behavior of complex devices,
circuits, instruments, systems, structures, plants, computers, fuels, and the environment. While data and
formulae are summarized, the main focus is the provision of the underlying theories and concepts and
the appropriate application of these theories to the field of engineering. Thus, the reader will find the
key concepts defined, described, and illustrated in order to serve the needs of the engineer over many years.
With equal emphasis placed on materials, structures, mechanics, dynamics, fluids, thermodynamics,
fuels and energy, transportation, environmental systems, circuits and systems, computers and instru-
ments, manufacturing, aeronautical and aerospace, and economics and management as well as mathe-
matics, the engineer should encounter a wide range of concepts and considerable depth of exploration
of these concepts as they lead to application and design.
The level of conceptual development of each topic is challenging, but tutorial and relatively funda-
mental. Each of the more than 200 chapters is written to enlighten the expert, refresh the knowledge of
the mature engineer, and educate the novice.
The information is organized into 30 major sections. The 30 sections encompass 232 chapters, and
the Appendix summarizes the applicable mathematics, symbols, and physical constants.
Each chapter includes three important and useful categories: defining terms, references, and further
information. Defining terms are key definitions, and the first occurrence of each term defined is indicated

© 2005 by CRC Press LLC

1586_C000.fm Page vi Thursday, May 20, 2004 3:04 PM

in boldface in the text. The definitions of these terms are summarized as a list at the end of each chapter.
The references provide a list of useful books and articles for follow-up reading. Finally, further information
provides some general and useful sources of additional information on the topic.

Locating Your Topic

Numerous avenues of access to information contained in the handbook are provided. A complete table
of contents is presented at the front of the book. In addition, an individual table of contents precedes
each of the 30 sections. Finally, each chapter begins with its own table of contents. The reader should
look over these tables of contents to become familiar with the structure, organization, and content of
the book.
The index can also be used to locate key definitions. The page on which the definition appears for
each key (defining) term is clearly identified in the index.
The Engineering Handbook, Second Edition is designed to provide answers to most inquiries and direct
the inquirer to further sources and references. We hope that this handbook will be referred to often and
that informational requirements will be satisfied effectively.

Acknowledgments
This handbook is testimony to the dedication of the associate editors, the publishers, and my editorial
associates. I particularly wish to acknowledge at CRC Press Nora Konopka, Publisher; Helena Redshaw,
Project Development Manager; Liz Spangenberger, Administrative Assistant; and Susan Fox, Project
Editor.

Richard C. Dorf
Editor-in-Chief

© 2005 by CRC Press LLC

1586_C000.fm Page vii Thursday, May 20, 2004 3:04 PM

Editor-in-Chief

Richard C. Dorf, professor of electrical and computer

engineering at the University of California, Davis, teaches
graduate and undergraduate courses in electrical engineer-
ing in the fields of circuits and control systems. He earned
a Ph.D. in electrical engineering from the U.S. Naval Post-
graduate School, an M.S. from the University of Colorado,
and a B.S. from Clarkson University. Highly concerned
with the discipline of engineering and its wide value to
social and economic needs, he has written and lectured
internationally on the contributions and advances in engi-
neering and their value to society.
Professor Dorf has extensive experience with education
and industry and is professionally active in the fields of
robotics, automation, electric circuits, and communica-
tions. He has served as a visiting professor at the University
of Edinburgh, Scotland; the Massachusetts Institute of
Technology; Stanford University; and the University of
California, Berkeley.
A Fellow of The Institute of Electrical and Electronics Engineers, Dr. Dorf is widely known to the
profession for his Modern Control Systems, Tenth Edition (Prentice Hall, 2004) and Introduction to Electric
Circuits, Sixth Edition (Wiley, 2004). He is the Editor-in-Chief of the Technology Management Handbook
(CRC Press, 1999), the Engineering Handbook, Second Edition (CRC Press, 2004), and CRC Handbook
of Engineering Tables (CRC Press, 2004).

© 2005 by CRC Press LLC

1586_C000.fm Page ix Thursday, May 20, 2004 3:04 PM

Contributors

Bruno Agard Sandra Arlinghaus Norman Balabanian

École Polytechnique de Montréal The University of Michigan University of Florida
Montréal, Québec, Canada Ann Arbor, Michigan Gainesville, Florida

Ramesh K. Agarwal Roger E. A. Arndt Partha P. Banerjee

Wichita State University University of Minnesota University of Dayton
Wichita, Kansas Ham Lake, Minnesota Dayton, Ohio

John Attia Randall Barron

C. M. Akujobi Louisiana Tech University
Prairie View A & M University Prairie View A&M University
Prairie View, Texas Ruston, Lousiana
Prairie View, Texas

Charles E. Baukal, Jr.

Tung Au
F. Chris Alley John Zink Co. LLC
Carnegie Mellon University Tulsa, Oklahoma
Clemson University (Emeritus)
Pittsburgh, Pennsylvania
Clemson, South Carolina
Nelson R. Bauld, Jr.
Robert Austin Clemson University
Willliam Ames Austin Communication Education
Georgia Institute of Technology Clemson, South Carolina
Services
Atlanta, Georgia Palm Harbor, Florida
Yildiz Bayazitoglu
Rice University
Appiah Amirtharajah Bilal M. Ayyub Houston, Texas
Georgia Institute of Technology Unversity of Maryland
Atlanta, Georgia College Park, Maryland
Robert Beaves
Robert Morris University
James Amrhein A. Terry Bahill Moon Township, Pennsylvania
Consultant University of Arizona
Long Beach, California Tucson, Arizona
R. R. Beck
U.S. Army Tank Automotive
Thalia Anagnos Rex T. Baird Research Development and
San Jose State University Silicon Laboratories, Inc. Engineering Center
Palo Alto, California Nashua, New Hampshire Warren, Michigan

Ted L. Anderson Terrence W. Baird Philip B. Bedient

Structural Reliability Technology Hewlett-Packard Company Rice University
Boulder, Colorado Boise, Idaho Houston, Texas

© 2005 by CRC Press LLC

1586_C000.fm Page x Thursday, May 20, 2004 3:04 PM

Richard C.Bennett Charles Borzileri Shiao-Hung Chiang

Swenson Process Equipment, Inc. University of California, Lawrence University of Pittsburgh
Harvey, Illinois Livermore National Laboratory Pittsburgh, Pennsylvania
Livermore, California

Jim Bethel Tim Chinowsky

Purdue University Ed Braun University of Washington
West Lafayette, Indiana University of North Carolina Seattle, Washington
Charlotte, North Carolina

Bharat Bhushan Jonathan W. Chipman

Ohio State University
Donald E. Breyer
California State Polytechnic University of Wisconsin
Columbus, Ohio Madison, Wisconsin
University
Pomona, California
Peter J. Biltoft
University of California, Lawrence
Tony M. Cigic
Robert Broadwater University of British Columbia
Livermore National Laboratory Virginia Polytechnic Institute and
Livermore, California Vancouver, British Columbia,
State University Canada
Blacksburg, Virginia
Stephen Birn
Moog Inc. Joseph D. Bronzino Michael D. Ciletti
Torrance, California Trinity College University of Colorado
Hartford, Connecticut Colorado Springs, Colorado

Robert H. Bishop
University of Texas George R. Buchanan William Cook
Austin, Texas Tennessee Technological University Iowa State Univerisity
Cookeville, Tennessee Ames, Iowa
Kenneth B. Black
University of Massachusetts, R. Ben Buckner C. David Cooper
Amherst Surveying Education Consultant University of Central Florida
Amherst, Massachusetts Johnson City, Tenneesee Orlando, Florida

Glenn Blackwell Michael Buehrer

Purdue University
William C. Corder
Virginia Polytechnic Institute and CONSOL, Inc.
West Lafayette, Indiana State University Pittsburgh, Pennsylvania
Blacksburg, Virginia
Benjamin S. Blanchard
Virginia Poytechnic Institute and George Cain Harold M. Cota
State University Georgia Institute of Technology California Polytechnic State
Blacksburg, Virginia Atlanta, Georgia University
San Luis Obispo, California

Robert F. Boehm William L. Chapman

University of Nevada Hughes Aircraft Company Leon W. Couch II
Las Vegas, Nevada Tucson, Arizona University of Florida
Gainesville, Florida
Bruce W. Bomar Som Chattopadhyay
University of Tennesse Space Indiana University/Purdue Dennis J. Cronin
Institute University Iowa State Univerisity
Tullahoma, Tennessee Fort Wayne, Indiana Ames, Iowa

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1586_C000.fm Page xi Thursday, May 20, 2004 3:04 PM

J. B. Cropley Deepak Doraiswamy Chang-Xue Jack Feng

Union Carbide Corporate Fellow National Starch and Chemical Co. Bradley University
(Retired) Bridgewater, New Jersey Peoria, Illinois
Scott Depot, West Virginia

Nelson C. Dorny H. Scott Fogler

John N. Daigle University of Pennsylvania University of Michigan
University of Mississippi Philadelphia, Pennsylvania Ann Arbor, Michigan
University, Mississippi

Tolga Duman Samuel W. Fordyce

Shilpa Damle Arizona State University Consultare Technology Group
Georgia Institute of Technology Tempe, Arizona Rockville, Maryland
Atlanta, Georgia

Stephen A. Dyer Wallace T. Fowler

Braja M. Das Kansas State University University of Texas
California State University Manhattan, Kansas Austin, Texas
Sacramento, California

Taan ElAli A. Keith Furr

Kevin A. Delin Wilberforce University Virginia Polytechnic Institute and
Jet Propulsion Laboratory Wilberforce, Ohio State University (Retired)
Arcadia, California Blacksburg, Virginia

Mohammed M. El-Wakil
Anca Deliu University of Wisconsin Anish Gaikwad
Georgia Institute of Technology Madison, Wisconsin EPRI-PEAC Corporation
Atlanta, Georgia Knoxville, Tennessee

Halit Eren
Bon DeWitt Polytechnic University Richard S. Gallegher
University of Florida Hong Kong R. S. Gallegher and Associates
Gainesville, Florida Ithaca, New York

Wolter J. Fabrycky
Ron Dieck Virginia Polytechnic Institute and Pierre Gehlen
Ron Dieck Associates, Inc. Seattle University
State University
Palm Beach Gardens, Florida Seattle, Washington
Blacksburg, Virginia

Henry Domingos
Clarkson University James R. Fair James M. Gere
Potsdam, New York University of Texas Stanford University
Austin, Texas Stanford, California

John F. Donovan
McDonnell Douglas Corporation Henry O. Fatoyinbo Peter Gergely
St. Louis, Missouri University of Surrey Cornell University
Surrey, U.K. Ithaca, New York

Anil Doradla
Virginia Polytechnic Institute and Charles Fazzi Afshin Ghajar
State University Saint Vincent College Oklahoma State University
Blacksburg, Virginia Latrobe, Pennsylvania Stillwater, Oklahoma

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Victor W. Goldschmidt Scott Hazelwood Stephen Horan

Purdue University University of California New Mexico State University
West Lafayette, Indiana Davis, California Las Cruces, New Mexico

Mike Golio Scott W. Heaberlin Mike Hughes

Golio Consulting Pacific Northwest National University of Surrey
Mesa, Arizona Laboratory Surrey, U.K.
Richland, Washington

Walter J. Grantham Paul J. Hurst

Washington State University
Chris Hendrickson University of California
Pullman, Washington Carnegie Mellon University Davis, California
Pittsburgh, Pennsylvania

Iqbal Husain
Ling Guan John B. Herbich University of Akron
Ryerson University Texas A & M University Akron, Ohio
Toronto, Ontario, Canada College Station, Texas

Daniel Inman
Francis Joseph Hale Ronald A. Hess Virginia Polytechnic Institute and
North Carolina State University University of California State University
Raleigh, North Carolina Davis, California Blacksburg, Virginia

Jerry C. Hamann Russell Hibbeler Rolf Johansson

University of Wyoming University of Louisiana at Lafayette Lund University
Laramie, Wyoming Lafayette, Lousiana Lund, Sweden

Simon P. Hanson David J. Hills Steven D. Johnson

CONSOL, Inc . University of California Purdue University
Pittsburgh, Pennsylvania Davis, California West Lafayette, Indiana

Steve J. Harrison Kai F. Hoettges Otakar Jonas

Queen’s University University of Surrey Jonas, Inc.
Kingston, Ontario, Canada Surrey, U.K. Wilmington, Delaware

Steven M. Hoffberg
Barbara Hauser Moses & Singer LLP
S. Casey Jones
Bay de Noc Community College New York, New York Georgia Institute of Technology
Escanaba, Michigan Atlanta, Georgia

Dave Holten
Mary Sue Haydt University of California, Lawrence Anthony J. Kalinowski
Santa Clara University Livermore National Laboratory Naval Undersea Warfare Center
Santa Clara, California Livermore, California Newport, Rhode Island

N. W. J. Hazelton Greg Hoogers Bruce Karnopp

Ohio State University University of Applied Sciences University of Michigan
Columbus, Ohio Birkenfeld, Germany Ann Arbor, Michigan

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Waldemar Karwowski Andrew Kusiak K. H. Lin

University of Louisville University of Iowa Oak Ridge National Laboratory
Louisville, Kentucky Iowa City, Iowa Knoxville, Tennessee

Ralph W. Kiefer Benjamin Kyle Noam Lior

University of Wisconsin Kansas State University University of Pennsylvania
Madison, Wisconsin Manhattan, Kansas Philadelphia, Pennsylvania

L. Kitis Fatima H. Labeed Earl Livingstone

University of Virginia University of Surrey Babcock and Wilcox Company,
Charlottesville, Virginia Surrey, U.K. Retired
Norton, Ohio

Joseph F. Kmec Richard T. Lahey

Purdue University Rensselaer Polytechnic Institute Gregory L. Long
West Lafayette, Indiana Troy, New York University of California
Irvine, California

Edward Knod Lee S. Langston

Western Illinois University University of Connecticut Eric M. Lui
Macomb, Illinois Storrs, Connecticut Syracuse University
Syracuse, New York

Alan A. Kornhauser Phillip Laplante

Virginia Polytechnic Institute and Penn State University Sergey Lyshevski
State University Malvern, Pennsylvania Rochester Institute of Technology
Blacksburg, Virginia Rochester, New York

Alan O. Lebeck
William J. Koros Mechanical Seal Technology, Inc. Arindam Maitra
Georgia Institute of Technology Albuquerque, New Mexico EPRI PEAC Corporation
Atlanta, Georgia Knoxville, Tennessee

Arthur W. Leissa
William B. Krantz Ohio State University
Thomas Mancini
University of Colorado Sandia National Laboratories
Columbus, Ohio
Boulder, Colorado Albuquerque, New Mexico

John Leonard II Thomas Marlin

Moncef Krarti Georgia State Road and Tollway McMaster University
University of Colorado Authority Hamilton, Ontario, Canada
Boulder, Colorado Atlanta, Georgia

Harold E. Marshall
Jan F. Kreider John B. Ligon National Institute of Standards and
Kreider and Associates Michigan Technological University Technology
Boulder, Colorado Houghton, Michigan Gaithersburg, Maryland

Thomas R. Kurfess Thomas M. Lillesand Bruce R. Martin

Georgia Institute of Technology University of Wisconsin University of California
Atlanta, Georgia Madison, Wisconsin Davis, California

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1586_C000.fm Page xiv Thursday, May 20, 2004 3:04 PM

E. F. Matthys Jan C. Monk Norman Nise

University of California National Aeronautics and Space California State Polytechnic
Santa Barbara, California Administration University
Huntsville, Alabama Pomona, California

Michael McCarthy
University of California Theodore T. Moore Jay M. Ochterbeck
Irvine, California Georgia Institute of Technology Clemson University
Atlanta, Georgia Clemson, South Carolina

Alan T. McDonald
Purdue University Samiha Mourad M. M. Ohadi
West Lafayette, Indiana Santa Clara University University of Maryland
Santa Clara, California College Park, Maryland

Ross E. McKinney
Environmental Consultant Safwat M. A. Moustafa Vojin G. Oklobdzija
Chapel Hill, North Carolina California Polytechnic University University of California
San Luis Obispo, California Davis, California

Sue McNeil
University of Illinois Rias Muhamed James Y. Oldshue
Chicago, Illinois SBC Laboratories , Inc. Oldshue Technologies International
Austin, Texas Fairport, New York

Daniel A. Mendelsohn
Ohio State University Bruce R. Munson George Opdyke, Jr.
Columbus, Ohio Iowa State Univerisity Dykewood Enterprises
Ames, Iowa Stratford, Connecticut

J. L. Meriam
University of California (Retired) Mark L. Nagurka Hasan Orbey (Deceased)
Santa Barbara, California Marquette University University of Delaware
Milwaukee, Wisconsin Newark, Delaware

Roger Messenger
Florida Atlantic University D. Subbaram Naidu Terry P. Orlando
Boca Raton, Florida Idaho State University
Massachusetts Institute of
Pocatello, Idaho
Technology
Cambridge, Massachusetts
Michael D. Meyer Edward G. Nawy
Georgia Institute of Technology
Rutgers University
Atlanta, Georgia
New Brunswick, New Jersey Bulent Ovunc
University of Louisiana at Lafayette
Lafayette, Lousiana
Karsten Meyer-Waarden Paul Neudorfer
University of Karlsruhe Seattle University
Karlsruhe, Germany Seattle, Washington Hitay Ozbay
Bilkent University
Ankara, Turkey
Scott L. Miller J. Karl C. Nieman and
University of Florida Utah State University The Ohio State University
Gainesville, Florida Logan, Utah Columbus, Ohio

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Joseph Palais Kaushik S. Rajashekara Jennifer Russell

Arizona State University Delphi Corporation University of Southern California
Tempe, Arizona Kokomo, Indiana Los Angeles, California

Jens Palsberg Rama Ramakumar M. N. O. Sadiku

University of California Oklahoma State University Prairie View A & M University
Los Angeles, California Stillwater, Oklahoma Prairie View, Texas

Gordon R. Pennock Jonathon Randall Richard S. Sandige

Purdue University University of Sydney University of Wyoming
West Lafayette, Indiana Sydney, Australia Laramie, Wyoming

Kermit Phipps Theodore S. Rappaport Stanley I. Sandler

EPRI PEAC Corporation University of Texas University of Delaware
Knoxville, Tennessee Austin, Texas Newark, Delaware

Walter Pilkey Muhammad H. Rashid Albert Sargent

University of Virginia University of West Florida Arkansas Power & Light
Charlottesville, Virginia Pensacola, Florida Hot Springs, Arkansas

Michael J. Piovoso Frances H. Raven Nesrin Sarigul-Klijn

Penn State University University of Notre Dame University of California
Malvern, Pennsylvania South Bend, Indiana Davis, California

Greg Placencia Timothy A. Reinhold Udaya B. Sathuvalli

University of Southern California Clemson University Rice University
Los Angeles, California Clemson, South Carolina Houston, Texas

Bruce Poling Christopher Relf Rudolph J. Scaruzzo

University of Toledo National Instruments Certified University of Akron
Toledo, Ohio LabVIEW Developer Akron, Ohio
New South Wales, Australia

Alexander D. Poularikas John L. Richards Charles Scawthorn

University of Alabama University of Pittsburgh Kyoto University
Huntsville, Alabama Pittsburgh, Pennsylvania Kyoto, Japan

David Rabinowitz Everett V. Richardson Boyd D. Schimel

Moses & Singer LLP Ayres Associates Washington State University
New York, New York Fort Collins, Colorado Pullman, Washington

Mansour Rahimi Albert J. Rosa Richard Schonberger

University of Southern California University of Denver Schonberger & Associates, Inc.
Los Angeles, California Denver, Colorado Bellevue, Washington

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Paul Schonfeld Vijay P. Singh Yorgos J. Stephanedes

University of Maryland Louisiana State University Institute of Computer Science
College Park, Maryland Baton Rouge, Louisana Foundation for Research and
Technology
Hellos, Greece
William T. Segui Shivaji Sircar
University of Memphis Air Products and Chemicals, Inc.
Memphis, Tennessee Allentown, Pennsylvania Matthew P. Stephens
Purdue University
West Lafayette, Indiana
Andrea Serrani Timothy L. Skvarenina
The Ohio State University Purdue University
Columbus, Ohio West Lafayette, Indiana P.K. Subramanyan
Glacier Clevite Heavywall Bearings
Solon, Ohio
James F. Shackelford Montgometry L. Smith
University of California University of Tennesse
Davis, California Tullahoma, Tennessee James A. Svoboda
Clarkson University
Potsdam, New York
Sherif A. Sherif Rosemary L. Smith
University of Florida University of California
Gainesville, Florida Davis, California Hans J. Thamhain
Bentley College
Waltham, Massachusetts
Yung C. Shin Sid Soclof
Purdue University California State University
West Lafayette, Indiana Los Angeles, California James F. Thompson
J. F. Thompson, Inc.
Houston, Texas
Walter Short Michael A. Soderstrand
National Renewable Energy University of California
Laboratory Davis, California and Y. L. Tong
Golden, Colorado Oklahoma State University Georgia Institute of Technology
Stillwater, Oklahoma Atlanta, Georgia

Paul W. Shuldiner
University of Massachusetts,
Richard E. Sonntag Matt Traini
Amherst University of Michigan University of California, Lawrence
Amherst, Massachusetts Ann Arbor, Michigan Livermore National Laboratory
Livermore, California

Frank R. Spellman
Ben L. Sill Hampton Roads Sanitation Blake P. Tullis
Clemson University Department Utah State University
Clemson, South Carolina Norfolk, Virginia Logan, Utah

Ronald C. Sims John P. H. Steele J. Paul Tullis

Utah State University Colorado School of Mines Tullis Engineering Consultants
Logan, Utah Denver, Colorado Logan, Utah

R. Paul Singh Ray Stefani Vincent Van Brunt

University of California California State University University of South Carolina
Davis, California Long Beach, California Columbia, South Carolina

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Boudewijn H. W. van David Wallace David M. Woodall

Gelder Georgia Institute of Technology University of Idaho
Purdue University Atlanta, Georgia Moscow, Idaho
West Lafayette, Indiana

David Wallenstein William W. Wu

Peter J. Varman Woodward-Clyde Consultants Advanced Technology
Rice University Oakland, California Mechanization Company
Houston, Texas Bethesda, Maryland

Yingxu Wang
Jerry Ventre University of Calgary Chih-Kong Ken Yang
Florida Solar Energy Center Calgary, Alberta, Canada University of California at Los
Cocoa, Florida Angeles
Los Angeles, California
Pao-lien Wang
Baxter E. Vieux University of North Carolina
University of Oklahoma Charlotte, North Carolina Loren W. Zachary
Norman, Oklahoma Iowa State Univerisity
Ames, Iowa
Thomas Vincent Kyle K. Wetzel
University of Arizona Wetzel Engineering, Inc.
Tucson, Arizona Lawrence, Kansas Ashraf A. Zeid
Army High Performance
Computing Research Center
Wolf W. von Maltzahn Barry Wilkinson and Computer Sciences
Rensselaer Polytechnic Institute University of North Carolina Corporation
Troy, New York Charlotte, North Carolina Warren, Michigan

Curtis J. Wahlberg Wayne Wolf Rodger E. Ziemer

Purdue University Princeton University University of Colorado
West Lafayette, Indiana Princeton, New Jersey Colorado Springs, Colorado

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Contents

I Statics
1 Force-System Resultants and Equilibrium
Russell C. Hibbeler
2 Centroids and Distributed Forces
Walter D. Pilkey and L. Kitis
3 Moments of Inertia
J. L. Meriam

II Mechanics of Materials
4 Reactions
Thalia Anagnos
5 Bending Stresses in Beams
James M. Gere
6 Shear Stresses in Beams
James M. Gere
7 Shear and Moment Diagrams
George R. Buchanan
8 Columns
Loren W. Zachary and John B. Ligon
9 Pressure Vessels
Som Chattopadhyay, Earl Livingston, and Rudolph H. Scavuzzo
10 Axial Loads and Torsion
Nelson R. Bauld, Jr.
11 Fracture Mechanics
Ted L. Anderson

III Dynamics and Vibrations

12 Dynamics of Particles: Kinematics and Kinetics
Bruce Karnopp and Stephen Birn
1586_bookTOC.fm Page xx Thursday, May 20, 2004 3:58 PM

13 Dynamics of Rigid Bodies: Kinematics and Kinetics

Ashraf A. Zeid and R. R. Beck
14 Free Vibration, Natural Frequencies, and Mode Shapes
Daniel A. Mendelsohn
15 Forced Vibrations
Arthur W. Leissa
16 Lumped versus Distributed Parameter Systems
Bulent A. Ovunc
17 Applications of Structural and Dynamic Principles
Anthony J. Kalinowski
18 Vibration Computations and Nomographs
Daniel J. Inman
19 Test Equipment and Measuring Instruments
Terrence W. Baird

IV Kinematics and Mechanisms

20 Linkages and Cams
J. Michael McCarthy and Gregory L. Long
21 Tribology: Friction, Wear, and Lubrication
Bharat Bhushan
22 Machine Elements
John Steele and Gordon R. Pennock
23 Crankshaft Journal Bearings
P. K. Subramanyan
24 Fluid Sealing in Machines, Mechanical Devices, and Apparatus
Alan O. Lebeck

V Structures
25 Loads
Peter Gergely
26 Wind Effects
Timothy A. Reinhold and Ben L. Sill
27 Earthquakes and Their Effects
Charles Scawthorn
28 Structural Analysis
Eric M. Lui and Metin Oguzmert
29 Structural Steel
William T. Segui
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30 Concrete
Edward G. Nawy
31 Timber
Donald E. Breyer
32 Masonry Design
James E. Amrhein
33 Nonlinear Dynamics of Continuous Mass Structural Systems
Bulent A. Ovunc
34 Scour of Bridge Foundations
E. V. Richardson

VI Fluid Mechanics
35 Incompressible Fluids
Alan T. McDonald
36 Compressible Flow
Afshin J. Ghajar
37 The Rheology of Non-Newtonian Fluids
Deepak Doraiswamy
38 Airfoils/Wings
Bruce R. Munson and Dennis J. Cronin
39 Boundary Layers
Edwin R. Braun and Pao-lien Wang
40 Valves
Blake P. Tullis and J. Paul Tullis
41 Pumps and Fans
Robert F. Boehm
42 Two-Phase Flow
Richard T. Lahey, Jr.
43 Basic Mixing Principles for Various Types of Fluid Mixing Applications
James Y. Oldshue
44 Fluid Measurement Techniques
S. A. Sherif

VII Thermodynamics and Heat Transfer

45 The First Law of Thermodynamics
Richard E. Sonntag
46 Second Law of Thermodynamics and Entropy
Noam Lior
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47 The Thermodynamics of Solutions

Stanley I. Sandler and Hasan Orbey
48 Thermodynamics of Surfaces
William B. Krantz
49 Phase Equilibrium
Benjamin G. Kyle
50 Thermodynamic Cycles
William J. Cook
51 Heat Transfer
Yildiz Bayazitoglu and Udaya B. Sathuvalli
52 Heat Exchangers
M. M. Ohadi
53 Industrial Combustion
Charles E. Baukal, Jr.
54 Air Conditioning
Jan F. Kreider, Victor W. Goldschmidt, and Curtis J. Wahlberg
55 Refrigeration and Cryogenics
Randall F. Barron
56 Heat Transfer to Non-Newtonian Fluids
E.F. Matthys
57 Heat Pipes
Jay M. Ochterbeck

VIII Separation Processes

58 Distillation
James R. Fair
59 Absorption and Stripping
James R. Fair
60 Extraction
Vincent Van Brunt
61 Adsorption
Shivaji Sircar
62 Crystallization and Evaporation
Richard C. Bennett
63 Membrane Separation
Theodore T. Moore, Shilpa Damle, David Wallace, and William J. Koros
64 Solid–Liquid Separation
Shiao-Hung Chiang
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65 Other Separation Processes

William C. Corder and Simon P. Hanson

IX Fuels and Energy Conversion

66 Fuels
Safwat M. A. Moustafa
67 Solar Electric Systems
Thomas R. Mancini, Roger Messenger, and Jerry Ventre
68 Internal Combustion Engines
Alan A. Kornhauser
69 Gas Turbines
Lee S. Langston and George Opdyke, Jr.
70 Nuclear Power Systems
David M. Woodall and Scott W. Heaberlin
71 Power Plants
Mohammed M. El-Wakil
72 Wind Energy
Kyle K. Wetzel
73 Hydraulic Turbines
Roger E.A. Arndt
74 Steam Turbines and Generators
Otakar Jonas
75 Cogeneration: Combined Heat and Power Systems
M. Krarti
76 Electric Machines
Iqbal Husain
77 Fuel Cells
Gregor Hoogers

X Kinetics and Reaction Engineering

78 Reaction Kinetics
K. H. Lin
79 Chemical Reaction Engineering
H. Scott Fogler
80 The Scaleup of Chemical Reaction Systems from Laboratory to Plant
J. B. Cropley
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XI Geotechnical
81 Soil Mechanics
Braja M. Das

XII Transportation
82 Transportation Planning
Michael D. Meyer
83 Design of Transportation Facilities
John Leonard II and Michael D. Meyer
84 Operations and Environmental Impacts
Michael D. Meyer, Paul W. Shuldiner, and Kenneth B. Black
85 Transportation Systems
Paul Schonfeld
86 Intelligent Transportation Systems
Yorgos J. Stephanedes

XIII Coastal and Ocean Engineering

87 Shallow Water and Deep Water Engineering
John B. Herbich

XIV Environmental System and Management

88 Drinking Water Treatment
Appiah Amirtharajah and S. Casey Jones
89 Air Pollution
F. Chris Alley and C. David Cooper
90 Wastewater Treatment and Current Trends
Frank R. Spellman
91 Solid Wastes
Ross E. McKinney
92 Hazardous Waste Management
Harold M. Cota and David Wallenstein
93 Soil Remediation
Ronald C. Sims and J. Karl C. Nieman
94 Urban Storm Water Design and Management
James F. Thompson and Philip B. Bedient
1586_bookTOC.fm Page xxv Thursday, May 20, 2004 3:58 PM

XV Water Resources Engineering

95 Hydraulics
Barbara Hauser
96 Hydrology
Vijay P. Singh
97 Sedimentation
Everett V. Richardson

XVI Linear Systems and Models

98 Transfer Functions and Laplace Transforms
C. Nelson Dorny
99 Block Diagrams
Taan ElAli
100 Signal Flow Analysis
Partha P. Banerjee
101 Linear State–Space Models
Boyd D. Schimel and Walter J. Grantham
102 Frequency Response
Paul Neudorfer and Pierre Gehlen
103 Convolution Integral
Rodger E. Ziemer
104 Stability Analysis
Raymond T. Stefani
105 z Transform and Digital Systems
Rolf Johansson

XVII Circuits
106 Passive Components
Henry Domingos
107 RL, RC, and RLC Circuits
Michael D. Ciletti
108 Node Equations and Mesh Equations
James A. Svoboda
109 Sinusoidal Excitation and Phasors
Muhammad H. Rashid
110 Three-Phase Circuits
Norman Balabanian
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111 Filters (Passive)

Albert J. Rosa
112 Power Distribution
Robert Broadwater, Albert Sargent, and Murat Dilek
113 Grounding, Shielding, and Filtering
William G. Duff, Arindam Maitra, Kermit Phipps, and Anish Gaikwad
114 Electromagnetics
M.N.O. Sadiku and C.M. Akujuobi

XVIII Electronics
115 Operational Amplifiers
Paul J. Hurst
116 Active RC Filters
Michael A. Soderstrand
117 Diodes and Transistors
Sidney Soclof
118 Analog Integrated Circuits
Sidney Soclof
119 Optoelectronic Devices
Sidney Soclof
120 Power Electronics
Kaushik S. Rajashekara and Timothy L. Skvarenina
121 A/D and D/A Converters
Rex T. Baird and Jerry C. Hamann
122 Superconductivity
Kevin A. Delin and Terry P. Orlando
123 Embedded Systems-on-Chips
Wayne Wolf
124 Electronic Data Analysis Using PSPICE and MATLAB
John Okyere Attia
125 Electronic Packaging
Glenn Blackwell
126 Microwave and RF Engineering
Mike Golio

XIX Digital Systems

127 Logic Devices
Richard S. Sandige
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128 Counters and State Machines (Sequencers)

Barry Wilkinson
129 Microprocessors and Microcontrollers
Michael A. Soderstrand
130 Memory Systems
Richard S. Sandige
131 Computer-Aided Design and Simulation
Michael D. Ciletti
132 Logic Analyzers
Samiha Mourad and Mary Sue Haydt

XX Communications and Signal Processing

133 Transforms and Fast Algorithms
Alexander D. Poularikas
134 Digital Filters
Bruce W. Bomar and L. Montgomery Smith
135 Analog and Digital Communications
Tolga M. Duman
136 Coding
Scott L. Miller and Leon W. Couch II
137 Computer Communication Networks
J. N. Daigle
138 Satellites and Aerospace
Samuel W. Fordyce and William W. Wu
139 Mobile and Portable Radio Communications
Rias Muhamed, Michael Buehrer, Anil Doradla, and Theodore S. Rappaport
140 Optical Communications
Joseph C. Palais
141 Digital Image Processing
Jonathon Randall and Ling Guan
142 Complex Envelope Representations for Modulated Signals
Leon W. Couch, II

XXI Computers
143 Computer Organization: Architecture
Vojin G. Oklobdzija
144 Operating Systems
Yingxu Wang
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145 Programming Languages

Jens Palsberg
146 Input/Output Devices
Chih-Kong Ken Yang
147 Memory and Storage Systems
Peter J. Varman
148 Nanocomputers, Nanoarchitectronics, and NanoICs
Sergey Edward Lyshevski
149 Software Engineering
Phillip A. Laplante
150 Human–Computer Interface Design
Mansour Rahimi, Jennifer Russell, and Greg Placencia

XXII Measurement and Instrumentation

151 Sensors and Transducers
Rosemary L. Smith
152 Measurement Errors and Uncertainty
Steve J. Harrison and Ronald H. Dieck
153 Signal Conditioning
Stephen A. Dyer
154 Telemetry
Stephen Horan
155 Recording Instruments
Timothy M. Chinowsky
156 Bioinstrumentation
Wolf W. von Maltzahn and Karsten Meyer-Waarden
157 G (LabVIEW‘) Software Engineering
Christopher G. Relf
158 Sensors
Halit Eren
159 AC Electrokinetics of Particles
Michael Pycraft Hughes, Kai F. Hoettges, Fatima H. Labeed, and Henry O. Fatoyinbo
160 Biomedical Engineering
Joseph Bronzino

XXIII Surveying
161 Quality Control
N. W. J. Hazelton and Boudewijn H. W. van Gelder
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162 Elevation
Steven D. Johnson
163 Distance Measurements
N. W. J. Hazelton and R. Ben Buckner
164 Directions
Bon A. Dewitt
165 Photogrammetry and Topographic Mapping
Sandra L. Arlinghaus, Robert F. Austin, and Jim Bethel
166 Surveying Computations
Boudewijn H. W. van Gelder
167 Satellite Surveying
Boudewijn H. W. van Gelder and Robert F. Austin
168 Surveying Applications for Geographic Information Systems
Baxter E. Vieux and James F. Thompson
169 Remote Sensing
Jonathan W. Chipman, Ralph W. Kiefer, and Thomas M. Lillesand

XXIV Control Systems

170 Principles of Feedback Control
Hitay Özbay
171 Root Locus
Desineni Subbaram Naidu
172 Nyquist Criterion and Stability
Norman S. Nise
173 System Compensation
Francis H. Raven
174 Process Control
Thomas E. Marlin
175 Digital Control
Michael J. Piovoso
176 Robots and Controls
Thomas R. Kurfess and Mark L. Nagurka
177 State Variable Feedback
Thomas L. Vincent
178 Nonlinear Control Systems
Andrea Serrani
179 Introduction to Mechatronics
Robert H. Bishop
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XXV Manufacturing
180 Types of Manufacturing
Richard J. Schonberger
181 Quality
Matthew P. Stephens and Joseph F. Kmec
182 Flexible Manufacturing
Andrew Kusiak and Chang-Xue (Jack) Feng
183 Managing for Value
Edward M. Knod, Jr.
184 Design, Modeling, and Prototyping
William L. Chapman and A. Terry Bahill
185 Materials Processing and Manufacturing Methods
Chang-Xue Jack Feng
186 Machine Tools and Processes
Yung C. Shin
187 Ergonomics/Human Factors
Waldemar Karwowski
188 Pressure and Vacuum
Peter Biltoft, Charles Borziler, Dave Holten, and Matt Traini
189 Food Engineering
R. Paul Singh
190 Agricultural Engineering
David J. Hills
191 System Reliability
Rama Ramakumar
192 Computer Integrated Manufacturing: A Data Mining Approach
Bruno Agard and Andrew Kusiak

XXVI Aeronautical and Aerospace

193 Aerodynamics
John F. Donovan
194 Response to Atmospheric Disturbances
Ronald A. Hess
195 Computational Fluid Dynamics
Ramesh K. Agarwal
196 Aeronautical and Space Engineering Materials
Nesrin Sarigul-Klijn
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197 Propulsion Systems

Jan C. Monk
198 Aircraft Performance and Design
Francis Joseph Hale
199 Spacecraft and Mission Design
Wallace T. Fowler

XXVII Safety
200 Hazard Identification and Control
Mansour Rahimi
201 Regulations and Standards
A. Keith Furr

XXVIII Engineering Economics and Management

202 Present Worth Analysis
Walter D. Short
203 Project Analysis Using Rate-of-Return Criteria
Robert G. Beaves
204 Project Selection from Alternatives
Chris Hendrickson and Sue McNeil
205 Depreciation and Corporate Taxes
Chris Hendrickson and Tung Au
206 Financing and Leasing
Charles Fazzi
207 Risk Analysis and Management
Bilal M. Ayyub
208 Sensitivity Analysis
Harold E. Marshall
209 Life-Cycle Costing
Wolter J. Fabrycky and Benjamin S. Blanchard
210 Project Evaluation and Selection
Hans J. Thamhain
211 Critical Path Method
John L. Richards
212 Intellectual Property: Patents, Trade Secrets, Copyrights, Trademarks,
and Licenses
David Rabinowitz and Steven M. Hoffberg
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XXIX Materials Engineering

213 Properties of Solids
James F. Shackelford
214 Failure Analysis
James F. Shackelford
215 Liquids and Gases
Bruce E. Poling
216 Biomaterials
Scott J. Hazelwood and R. Bruce Martin

XXX Mathematics
217 General Mathematics
218 Linear Algebra Matrices
George Cain
219 Vector Algebra and Calculus
George Cain
220 Complex Variables
George Cain
221 Difference Equations
William F. Ames
222 Differential Equations
William F. Ames
223 Integral Equations
William F. Ames
224 Approximation Methods
William F. Ames
225 Integral Transforms
William F. Ames
226 Chaos, Fractals, and Julia Sets
Anca Deliu
227 Calculus of Variations
William F. Ames
228 Probability and Statistics
Y. L. Tong
229 Optimization
George Cain
230 Numerical Methods
William F. Ames
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231 Dimensional Analysis

William F. Ames
232 Computer Graphics Visualization
Richard S. Gallagher
Appendix: Mathematical Tables and Formulae