Course information: Advanced Dynamics & Computation - ME331A Advanced Dynamics & Simulation - ME331B

Instructor Oce location Software Web sites Course elements Paul Mitiguy 650-346-9595 113 Peterson (Building 550 - D.School) MATLAB R , MotionGenesisTM, . . . (MotionGenesisTM is a MATLAB R connections partner) www.stanford.edu/class/me331a www.MotionGenesis.com Lecture, computation/oce hours, colleagues, homework, MIPSI, book. Advanced Dynamics & Motion Simulation $125 For Professional Mechanical, Aerospace, and Biomechanical Engineers F = m a computation/simulation lab and oce hours
Day Monday Tuesday Wednesday Friday Time 5:45-8:45+ 5:45-8:45+ 3:45-5:00+ 3:45-5:00+ Location Peterson 550-126/Atrium Peterson 550-126/Atrium Peterson 550-126/Atrium Peterson 550-126/Atrium

Course material
Distributed in class

Oce hours start Mon. Jan. 14 Note: CAs facilitate simulation labs, interactive classroom participation, and multimedia peer-networking presentations. Note: CAs comprehensively support MIPSI computation/simulation projects (may relate to job/Ph.D. research). Note: Students are expected to help each other. Cookies provided on occasion.

Course description: ME331A, Advanced Dynamics & Computation Vector algebraic/dierential geometry for kinematic analysis. Formulation of equations of motion for 3D multibody systems with: Newton/Euler equations; angular momentum principle; and DAlembert principle (Dynamics road maps); Symbolic and numerical computational solutions to linear/nonlinear algebraic and dierential equations governing the conguration, forces, and motion of multiple degree of freedom systems. Training for advanced research and professional work. Course description: ME331B, Advanced Dynamics & Simulation Tensors and mass property calculations. Formulation of equations of motion for constrained 3D multibody systems with: DAlembert principle (Dynamics road maps); power, work, and energy; Lagranges equations; and Kanes method. Euler parameters/quaternions, specied motion, constraint force/torque calculations, feed-forward control, inequality constraints and/or intermittent contact. Symbolic and numerical computer skills for geometry/kinematic analysis, mass/inertia calculations, forces and motion, and simulation of multi-body dynamic systems. Training for advanced research and professional work.

Paul prefers talking in person or by phone rather than corresponding by e-mail (particularly on technical matters).

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Skills and training for advanced research and professional careers Advanced Dynamics focuses on ecient formulation and solution of equations of motion for complex 3D multibody dynamic systems. The course facilitates advanced graduate research and professional work. The big picture is F = m a . This course is detail-oriented with focus on details of F , m , a , the equals (=) sign, denitions, equations, words, precise notation, descriptive language, eciency of formulation, computational solution, simulation, visualization, MATLAB R , MotionGenesis, etc. Interactive participation and peer/professional networking Class participation is facilitated by the instructor team who ask students to engage in peer instruction, participate in demos, answer questions, and work problems on the board. Learning by design - we appreciate your feedback. The word educate is from the Latin educare - to draw out (not to stu in). Please provide suggestions, criticism, content, images, and creative brainstorming about lectures, labs, computation, homework, demos, classroom interaction, oce hours, software, hardware, etc. With 150+ classes of experience and a signicant nancial investment in your education, you are both learning experts and customers.

Grading Homework & Computation/Simulation Labs: 30% Work is only accepted in the box at the start of class (not by instructors or under oce doors) Work submitted one lecture day late is penalized 15 points. Work submitted two lecture days late is penalized 35+ points, and is not thoroughly examined. Work submitted more than two lecture days is penalized 55+ points and is not thoroughly examined. Homework is not accepted after the last day of class. To accommodate ill or overtired students, or students who need an extension for any other reason, two class homework extensions are permitted during the quarter. For example, a homework due Wednesday may be submitted on Friday without penalty. Submit your work and answers on separate sheets of paper (not on homework assignments). Communicate clearly, write neatly, and use only one side of the paper. N N P d v Use detailed notation e.g., NvP . Use = for denitions, e..g., NaP = dt Homework marked optional does not need to be submitted (no extra credit). Work must be stapled (not paper clipped, dog-eared, origami, or bubble-gummed) Work is graded: ++ (100), + (93), (85), (78), (70), or no credit (0). To maximize oce hours, your work is examined but with deep analysis of few (1-3) homework/computational problems. In-depth feedback of your work is available in oce hours. Homework solutions are not posted. Ask friends and instructors for help. Homework is practice, not a trade
secret, and you are encouraged to work with your classmates and instructors. There is a strong correlation between high homework scores and high exam scores - and few reasons to do poorly on homework.

Midterm & Computation/Simulation: 25% The in-class portion is open-book and open-note. No electronic devices permitted (e.g., no cell phone, computer, calculator, etc.). No makeup exam given. Your computation/simulation questions must be done solo.
Copyright c 1992-2013 by Paul Mitiguy

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 Final & Computation/Simulation: 30% The in-class portion is open-book and open-note. No electronic devices permitted (e.g., no cell phone, computer, calculator, etc.). No makeup exam without university authorization. Your computation/simulation questions must be done solo no communication of any class-related material (lectures, notes, homework, labs, exams, questions, etc.) with anyone other than ME331 instructors. MIPSI - Team-based Simulation Project: 15% 10% Asking and answering a sensible question. Timely presentation to instructor team. 10% Comprehensible schematics (possibly with photo) and detailed modeling assumptions. 10% Precise description of all physical objects and unit vectors. 10% Concise accurate tabular description of all scalar symbols. 50% Correctness of analysis. Short (2-3 pg.), solid report. Text interspersed with plots. 10% Technical diculty, physical demonstration, or interesting problem

MIPSI

Model physical system. Capture the essential components of the physical system being analyzed and draw a simple sketch of the model. symbols and values, e.g., m, g, L, . Name and label relevant parts, e.g., bodies, lengths, angles, etc. Introduce unit vectors. Analytically or empirically determine physical constants.
nz

Identiers, Physics:

No

ny LA LB

N
Acm

Using physical principles, (e.g., F = m a ) formulate equations which relate the identiers and govern the behavior of the system.
qB

az

ay

qA B

unknown identiers, e.g., with MATLAB R and MotionGenesis.

Simplify and solve. Produce numerical or closed form solutions for the Interpret, design, and control physical system: Generate and com-

Bcm

bz

by bx

municate results (numbers, plots, animation, virtual-reality, etc.) that are easily interpretable by a non-technical person. Graded material:
class).

Student Box Instructors (alphabetize/grade/Coursework) Student (in

Consult Linus Park for questions about homework/computation/test scores. Verify your scores at https://coursework.stanford.edu each week to ensure no grades are overlooked.

When you choose to use computational tools (e.g., MATLAB R , MotionGenesis) to avoid tedious calculations, make sure you know what the computer is doing (it is not magic). Print out and submit appropriate (do not waste paper) computational les (e.g., .m or .all les) and include both input and output.

Computation and visualization tools (MATLAB R , MotionGenesis, Working Model, . . . ) This course provides training for computational tools for generating and solving equilibrium equations. Plotting capabilities in MATLAB R , MotionGenesis or Excel are useful for generating graphs.

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Computation/Simulation Labs and Homework Schedule

ME331A: Advanced Dynamics & Computation
Week 01/06 01/13 1st meeting of week Concepts assigned. Hw 1 due. Basis independent vectors Hw 2 due. Vector computation + - 2nd meeting of week Concepts due. Computation Lab: Mathematics, evaluating expressions, matrices, solving linear/nonlinear algebraic equations. 3D microphone problem. Saving/running .m and .al les.

F=ma
01/20 Hw 4 due. Vector bases: Rotation matrices I Hw 5 due. Vector dierentiation

Computation
computation ( +

Lab:

Vector , mag-

F=ma
R r v a

nitude), position vectors, rotation matrices, vector geometry (measurements of distance, area, volume, angles). Inverse/forward kinematics for neuromuscular biomechanics.

01/27

Hw 6 due. Angular velocity/acceleration

Direct feedback homework grading - sign up for inclass time-slot to meet with an instructor.

Computation Lab: Symbolic

dierentiation, computer solutions to nonlinear ODEs, SI/US unit conversions. ODEs, simulation, plotting for precessing gyro and torque-free satellite. Automating .m les.

F=ma
R r v a

02/03

Hw 8 due. Points: Velocity/acceleration I

Computation Lab: Kinematics, angular velocity/acceleration, velocity/acceleration. Trim solution of aircraft. Phugoid mode simulation.

F=ma
R r v a

02/10 02/17

Hw 9 due. Points: Velocity/acceleration II Hw 11 due. Particles: m v, 1 mv2 , F = m a 2

Projectile motion of baseball (with/without airresistance). Vibration/damping/resonance of mass/spring/damper rocket-slide ride.

Midterm & Computation Computation Lab: Computergenerated equations of motion (F = m a ). Accuracy (closed form vs numerical solution) of ODEs. Simulation, plotting, and visualization of projectile motion and rocket-sled.

F=ma
R r v a

02/24

Hw 17 due. Translation: Laws of motion Computation: Coast-guard helicopter rescue

Computation Lab: Forces and motion, muscles, indeterminate systems. Inverse/forward dynamics for neuromuscular biomechanics.

F=ma
03/03 03/10

Hw 12 due. Mass/inertia I Simulation Project: MIPSI Hw 14 due. Rigid body momentum, energy, motion Consulting submit question, model, system picture, identier table. In-class Dynamic Celt Lab Hw 18 due. Systems: Road maps/DAlemberts method Simulation Project: MIPSI Road maps and cyber-knife surgical robot Presentation - submit 1 power-point

F=ma
03/17

slide with: (a) question, (b) picture of system, (c) picture of team, (d) results (answer to question).

Final exam. MIPSI Project - Team Simulation Report

Grades in Axess. Course evaluations.

March 25-31 Spring break

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ME331B: Advanced Dynamics & Simulation

Week 03/31 04/07 1st meeting of week
Advanced position vectors and geometry

2nd meeting of week

Road-maps with constraints

Hw 3 due. Advanced vector geometry, vector loops,

gradients, integrals over curves/surfaces.

Simulation Lab: Computer generated static/dynamic equations for constrained multibody system. Initial values from nonlinear algebraic equations. Constraint stabilization.

Hw 21.2, 3 due. Four-bar linkage statics and dynamics (holonomic constraints/closed-chains). Eciency of road-maps vs. single free-body diagrams.

04/14

Hw 10.1-15 due. Constraints I (do Optional)

Conguration/motion variables/constraints (holonomic/nonholonomic). Degrees-of-freedom.

Simulation Lab: DAEs. Continuous solutions to nonlinear algebraic equations. sis/design. SkyCam. Linkage analypiston

04/21

Hw 10.16-end due. Constraints II (do Optional) Rolling, wheels, gears, bowling-ball, top, football, rattleback, constant-speed gear, hexapod, tether, cam.

Midterm & Simulation

04/28

Midterm Simulation due , ... Sim tools: MATLAB R ,

Hw 7 due. Euler parameters &

quaternions. Poisson & Rodrigues parameters, rotational ODEs Kane/Lagrange methods.

05/05 05/12

Hw 20 due. Kane/Lagrange I unconstrained (no Optional). Simulation Lab:

Ecient formulation and solution for F = m a .

Hw 21 due. Kane/Lagrange II with constraints

(no Optional) Generalized coordinates/speeds. Partial velocity, virtual displacement. Kinetic energy, effective force.

Simulation Lab: Nonholonomic

constraints. rattleback. Rolling disk, spinning gears, ropes/contact

05/19 05/26

Feed-forward model-based control of multi-body systems (with/without constraints)

Simulation Lab:
Feed-forward model-based control

Hw 22 due. Feed-forward control

Optional: Hw 12. Advanced mass & inertia.

Simulation Project: MIPSI

Consulting submit question, model, system picture, identier table.

06/02

Simulation Project: MIPSI. Selection for

exam - submit 1 power-point slide with: (a) question, (b) picture of system, (c) picture of team, (d) answer.

Final exams start

06/09

Final simulations (3). MIPSI Project - Team Simulation Report

Grades in Axess. Course evaluations.

June 16 Graduation

Jobs/Ph.D.

MIPSI simulation team projects Spring 2012

Feed-forward model-based control of SkyCam Feed-forward control of spacecraft with quaternions Feed-forward model-based control of smart lamp Feed-forward model-based control of rolling disk Art & Engineering: Motion of rotary pintograph Take-o torque and trajectory of XV-22 Dynamics of aerial refueling hose whip Dynamics of active vehicle suspension Aerodynamics of ap-winged aircraft Rollover rate of 3-wheeled vehicle Dynamics of a golf swing Gear train dynamics Can a ball roll uphill? Rolling ball in vertical tube

Future topics and computation/simulation labs for ME331C: Kane+ : Constraint forces, augmented (simulation) and embedded (controls) methods Integrals of equations of motion (generalized principles of conservation of energy/momentum). Linearization of equation of motion for classic control-system design. Robotics: redundancy/singularities and path planning. Numerical methods: Integrators, inequality constraints, event-handling Ecient formulation of equations of motion for systems with gyrostats. Contact detection, collisions, contact response, friction, event-handling Force, torque, replacement, impulse, stress, strain, exibility Dynamics and control of systems with exible bodies (constraints and Order-N) Skilled integration with CAD, FEA, and controls (SolidWorks, MATLAB R , Simulink, . . . )
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Graduate Dynamics Syllabus

Date 1/06 Wed Who P Assignment Topic Concepts assigned Music: TBD. Course introduction. What is dynamics and who cares: Physics, mechaniHw 1 assigned cal, aerospace, and biomechanical engineering. MIPSI problem solving methodology. Course Hw 2 assigned roadmap: F = m a . Demo: Babyboot and MotionGenesis. Distribute textbooks. Math Chapters 1, 2, 4 review: Trigonometry (circles, triangles, sine, cosine) and calculus (dierentiation). The importance of denitions: the denition of ; how to calculate a value for ?. Denitions of sine/cosine; derivatives of sine/cosine to complete blank in notes. Review of dierentiation and solving nonlinear algebraic equations with MotionGenesis and/or MATLAB R . Install MotionGenesis and PlotGenesis from course website. Why use a symbolic manipulator like MotionGenesis? (or related computer programs, e.g., Mathematica, Maple, MATLAB R , Working Model, or MSC.Adams). Concepts due Music: TBD. TA: Class photos/names. The importance of denitions: the denition Hw 4 assigned of ; how to calculate a value for ?. Denitions of sine/cosine; derivatives of sine/cosine to Chapter 5 complete blank in notes. Solve x2 cos(x) = 0. (solution is 0.824). Reminder: Use a computer to solve nonlinear equations (e.g., Homework 2.17). Who invented vectors and when? Basis independent vectors and vector operations. Dierences and similarities between vectors and column matrices. Kanes 2nd theorem Everything is equal to everything else. Review of dot, cross, and derivatives of vectors in Concepts in Newtonian mechanics. The righthand rule as a universally accepted convention? Properties of dot/cross b(a c) c(a b) and a b c = a b c. Dot-products and vector magnitudes and cross-products via right-handrule, the clock-method, and determinants with a single right-handed, orthogonal, basis. Unit vectors as the I in MIPSI. Draw examples of unit vectors as sign posts in Section 2.4. When are two vectors equal? (dierences between equal position vectors equal force vectors, and equal vectors). Philosophy on applied mathematics - concepts, calculations, context. Philosophy on vectors to supplement/replace geometry/trigonometry in high-school. Conceptual introduction to dyads, dyadics, triads, triadics, and tensors. Helpful hints for Hw 2. Vector basis and basis vector. Bases, spanning, linear independence, and locating points in R1 , R2 , R3 . The importance of words: Orthogonal, unitary, dextral basis (and the language, history, culture, and biology/genetics of right and left). Coordinate systems: [Cartesian (demo: ball in space), Polar/cylindrical (demo: ball in can), Spherical (famous spheres and singularities - demo: basketball)], generalized coordinates (position variables), distance and angle. Why generalized coordinates make me happy. Bases vs. coordinate systems.

1/08 Fri

1/13 Wed

Hw 1 due Hw 2 due

The point of each Hw 2 problem. How to remember a basis, dude. Question of the day: What is an angle: Two lines: 0 90 ; Two vectors: 0 180 ; Three vectors: -180 180 . Rotation matrices (and coordinate systems). Demo: Why use rotation matrices - a spiraling wobbling football. Successive rotations and the babyboot in Section 5.5. Student Demo: Eciency of transpose versus inverse for rotation matrices. Dot-products (and vector magnitudes and angles between vectors) and cross-products with multiple right-handed, orthogonal, bases. Everyone has an angle - application specic Euler angles in Section 8.3. Demo of roll, pitch, yaw and rotation, obliquity, and torsion and their dependence on rotation order. Appendix of rotations. Dierences between clinical angles and Euler angles. Angles and the design of the XV-22 aircraft. Simple rotations. Who invented Euler parameters and quaternions and when? Euler parameters and quaternions (analogy to imaginary numbers). Rotation matrices (direction cosines) vs. transformation matrices. MotionGenesis: BasisSubscripts, RigidFrame, RigidBody, Rotate. Why we take pictures: Love thy neighbor. Pat Forrester (NASA astronaut), Jerry Yang and Dave Filo (Yahoo), Naveed Hussain (Boeing Chief), Salma Saeed (Lockheed Chief),
Keith Reckdahl (Loral/Lockeed guru), Scott Delp (Biomechanics), Bob Ryan (CEO ADAMS), Keith Bunton (Dean/Bucknell), Charles Wampler (GM Chief Scientist), TA Robert Usiskin (JPL), TA Andrew Reid (FMC), Student 2008 Brenda Scheufele (Tufts/F18 Pilot), . . . .

1/15 Fri

Hw 5 assigned Chapter 6

Helpful hints for Hw 4. Similarities and dierences between vector bases and reference frames. Demo: Comparison of textbook denitions of vector dierentiation (do you need a reference frame?) The denition of the derivative of a vector (the slow way to calculate a derivative). A A A A A A A dv = dv1 a + v d a1 + dv2 a + v d a2 + dv3 a + v d a3 1 1 2 2 3 3 dt dt dt dt dt dt dt Question of the day: What is the most important formula is kinematics? Demo: Using a bike-pump to demonstrate the derivative of a vector. Demo: how does v1 change in A (without light-speed relativity). How does the unit vector a1 change in magnitude in A. How does the unit vector a1 change in direction in A. The golden rule for vector dierentiation ($1,000,000 formula) as a denition of angular velocity. Calculating derivatives of vectors with MotionGenesis. Helpful hints for Hw 5.

1/20 Wed

Hw 4 due Hw 5 due Hw 6 assigned Chapter 7

1/22 Fri

Hw 8 assigned Chapter 10

1/27 Wed

Hw 6 due

The symbol, name, and denition for A B and huh? Question of the day: Does a point have angular velocity? (Question asked by Thomas Kane to Bernie Roths during Bernies interview for a professorship at Stanford). Early commercial multi-body programs (e.g., Working Model) and their language for coords/points. How does one nd angular velocity (a vector quantity) from a rotation matrix or Euler angles/parameters (scalars)? Worked out angular velocity and angular acceleration examples for babyboot and spinning book (with demo). Calculating angular velocity using basis vectors and rotation matrices. Simple angular velocity. Angular velocity addition theorem. Setting and getting angular velocity and acceleration with MotionGenesis. Demo: Comparison of denition of angular velocity with other textbooks. Marcelo Crespa da Silva (et. al) say The [golden rule of vector dierentiation] is of fundamental importance in dynamics ... as it is used by all dynamicists. Check out the angular velocity of a point lie at http://en.widipedia.org/wiki/Angular velocity. Demo: Spinning bicycle wheel and angular velocity weirdness. Helpful hints and the point of Hw 5 and Hw 6. Question of the day: What is a point and what are its properties? The symbol, name, and denition for NaQ and huh? The pictures and proofs for the four formulas for velocity. The direct relationship between acceleration formulas and velocity formulas. Dierences in human intuition between velocity and acceleration. Denition of velocity, position, and distance. Geometry, the Greeks and Gibbs. The Summary of Equations Toolbox. Worked out velocity examples in book. Setting and getting position vectors; setting velocities and accelerations via denition with MotionGenesis. Knowing when a vector can be dierentiated. Checking if the right-hand side of an equation (e.g., v2pts) is valid for all time. Using v1pt and v2pts to eciently calculate the velocity of a point at an instant. Mathematical parallels between velocity (intuitive) and acceleration (not so intuitive). Special acceleration names - transport, centripetal, relative, tangential, and Coriolis. Using the Greek roots of pet (e.g., petition means seeking a request, competition means seeking a goal) and fugal (e.g., fugitive means eeing from bad situation) to remember centripetal and centrifugal. Worked out acceleration examples in book. Demo: Swinging spring. Knowing when to surrender to a computer. Setting velocity and acceleration via v1pt and v2pts with MotionGenesis. Kinematics Toolbox Formulas. Helpful hints for Hw 8.

1/29 Fri

2/3 Wed

2/5 Fri

2/10 Wed

Hw 10.2, 3, 4, 5 assigned Types of constraints, position (orientation/angles and position); velocity (angular velocity Hw 11.2-Hw 11.10d and assigned velocity); acceleration (angular acceleration and acceleration). Denition of degrees of Chapters 11, 12 freedom in terms of motion (not conguration). Constraints and limiting degrees of freedom of particles and bodies. Use of redundant position variables for planar pendulum and spherical pendulum as an analogy to Euler parameters. Mathematical description of rod, rope, and ball joint. Motion constraints as derivative of conguration constraints - but inability to integrate certain motion constraints to nd conguration constraints holonomic/nonholonomic. Question of the day: What is rolling and what is its mathematical description? Question of the day: Do all balls roll the same (or downhill)? What is contact? The three points of contact (contact points and path point). Demo: Screws and clamps (constraint relating rotational motion to translational motion. Demo: The string-pendulum as unilateral constraints. Demo: The geometry of objects that roll and objects that do not (concave/convex/dierential geometry). Demo: Rolling spheres (ball bearings), rolling disks (wheels), and footballs. Demo: Ball bearings, revolute joint, and torsional spring in coupled two-DOF system. Demo: Squiggle ball with revolute joint/motor and slot. Constraints. Demo: No-twist joint, stepper motor. Specied force vs. specied conguration, motion, or agitation. Hw 8 due Helpful hints for Hw 10. Setting constraints in MotionGenesis. Demo: Piston problem with Working Model and MotionGenesis. Simulation vs. animation. Gear problems. Demo: Wells Fargo gears and Kanes constant-speed gears. Demo: Flywheel car with gears. Demo: Gears, cams, and dancing robots. Two, three, and four gear simulations with Working Model. position,velocity, and acceleration variables. Generalized speeds, partial velocities and angular velocities, virtual displacements and virtual angular displacements. Demo: Rolling ball in can. Kinematics Toolbox Formulas. Expectations for Midterm and MIPSI project. Part of Hw 10 due Midterm exam Part of Hw 11 due Midterm

2/12 Fri

Remainder of Hw 11 Midterm assigned. solutions. Question of the day: What is a particle what are its properties? Question Chapter 13 of the day: What is mass? Etymology of the word mass. Reading: Pgs. 163-168 of Bill Brysons A Short History of Nearly Everything. What is space and time? Human, Ocean (1 mile deep), Billiard ball (Earth - 7900 mile diameter), Sun (109 x diameter of Earth) Orbit (3 km compared to billiard ball). More than 99.9% ( 4999 5000 ) of mass is concentrated 1 ) of the volume. It in an atoms nucleus whereas the nucleus is on one billionth ( 1000000000 23 takes 6.023 x 10 atoms to make up 1 gram of hydrogen (the most plentiful substance in the observable universe). but there is only an estimated 6.023 x 1080 atoms in the entire observable universe! Denitions of linear, angular, and generalized momentum. Demo: Determination of mass center by sliding sticks under non-uniform block. Demo: Determination of mass center by rotating rods under block. Demo: Determination of mass center by hanging a tennis rack at various points. Demo: Determination of mass center by trajectory of various points of spinning tennis racquets. Controversy on the denition of angular momentum. Denitions of eective force, moment of eective force, and generalized eective force. In class: Combining symbols worksheet. Demo: Centrifugal force (or centripetal acceleration) via spinning toy with quarter and ball bearings (spin - do not blow!). Demo: Eective force and harmonic forcing of air-conditioner on leaf-spring/damper. Getting linear/angular momentum, kinetic energy, and other particle properties with MotionGenesis. Scalars, vectors, dyadics, triadics, and higher-order polyadics and tensors. Language: Colicky baby, conjunctivitis, innitesimal, quantum. Invariant, contravariant, and covariant basis vectors in Euclidean R3, tangent and cotangent bundles on manifolds. Introduction of dyads and dyadics from Chapter 2. Forming a dyadic by multiplying two vectors. Analogy between 3 1 column matrix and vectors and 3 3 matrices and dyadics. The unit dyadic and the 3 3 identity matrix. Dot-multiplication of a vector with a dyadic. Denition of inertia dyadic, inertia matrix, moment of inertia, and product of inertia of a particle. Controversy on the symbol, denition, and names for product of inertia.

2/17 Wed

2/19 Fri

2/24 Wed

Remainder of Hw Denition 11 due of a system and a set. Denition of center of mass. Demo: Balancing coke can. Skip Hw 13 Demo: Balancing forks and burning toothpick on wine glass. Demo: Ernest the BalancChaping Bear (static analysis). Demo: Balancing bird. Demo: Balancing large nails on single ters 13,14,15 nail. Experimental and analytical determination of mass, center of mass, and inertia propHw 12 assigned erties. Demo: Ring and disc inertia. Demo: Rolling soup cans. Demo: Ring and disc Hw 14 assigned inertia. Demo: Determination of center of mass via trajectory of various points on a spinning Chapter 17 tennis-racquet. The language of spinning about the c.m. and spinning about a point. Physical insights into moments and products of inertia. Physical signicance of the inertia dyadic and inertia matrix as a suitcase. Setting and getting mass distribution properties in MotionGenesis. Helpful hints for Hw 12. Demo: Squiggle ball with revolute motor and oset-mass center and products of inertia. Formulas for systems of particles (or bodies). Extending F = m a to the translation of systems of particles. Extending F = m a to the translation of a rigid body. Extending F = m a to rotations of rigid bodies (Eulers equation). Summary of formulas for particles, systems of particles, and rigid bodies with extension to gyrostats. Getting linear/angular momentum, kinetic energy, and other rigid body properties with MotionGenesis. Demo: Metronome and experimental determination of moment of inertia. Demo: Spin stabilization with gyroscope. Demo: Spinning book and moments of inertia. Demo: Spinning a football to stand it upright. Demo: Rattleback LAB and products of inertia. Parallels in formulas between momentum and eective force. A short history of Euler and mechanics Demo: compound pendulum. Helpful hints for Hw 14. Hw 12 due F = m a for the classical particle pendulum Demo: Classical and spherical particle ? Demo: Rocking Hw 14 due pendulum. Fundamental laws of 3D rotational motion. Euler T = I sailboat. Generalized eective forces and constraints. MotionGenesis and vehicle skid analysis. Demo: Vehicle skid.

2/26 Fri

3/3 Wed

3/5 Fri

Skip Hw 15 The symbol and words for forces (contact/distance for non-relativistic engineers and fundamenPart of Hw 16 assigned tal forces for quantum physicists). Question of the day: What is a force? (Feyman) The lack Hw ?? assigned of denition and large number of equations for a force. The philosophy and science of forces. Part of Hw ?? assigned Denitions of science. Controversies in evolution and gravity. Forces, impulses, moments, Part of Hw 19 assigned torques, resultant, and replacement. Forces: gravity, translational springs and dampers, linear Chapters 18,19,20,21,23,24 actuators. Relationship of force to electrical current in linear actuators (motors). Demo: Bike pump as nonlinear spring/damper. Springs in parallel and series. Demo: Slinky. Demo: Torsional spring exerciser. Demo: Torsional spring/damper in MSC.Software notepad. Moment of a force, replacing a set of forces with a simpler equivalent set (modeling). Torques: rotational springs Demo: metronome, Torques: rotational dampers, motors. Relationship of torque to electrical current in a rotational motor. Demo: Spinning motor, back-EMF. Controversy on the aerodynamics of a baseball. Gravity and the equivalence principle. Question of the day: What is potential energy? Potential energy and work. Impulse-momentum. Coecient of restitution. Demo: Happy Balls. Part of Hw 16 due Helpful hints for Hw 15. Demo: Eddy current tube (magnetism). Demo: Wilbur force Hw ?? due pendulum (coupled springs). Demo: The popper as stored potential energy. Part of Hw ?? due Part of Hw 19 due Hw 17 assigned Hw 18 assigned Fundamental laws of translational motion for a particle, rigid body, or system. Aristotle Chapters 22,27, F = mv ? Demo: Nerf football. Newton F = d (mv ) or F = m a ? Solutions for projectile dt 28 motion with and without air-resistance. Understanding various methods through the classical particle pendulum. Power/Energy-rate principle for one DOF problems. Demo: Energy exchange for translational motion with slinky and person-particle. Demo: Harmonic forcing with a Scotch Yoke. Demo: Energy exchange for rotational motion with powerbee. Related and other advanced methods for forming equations of motion - LaGrange, Kane, DAlembert, Hamilton, Order-N.

3/10 Wed

Hw 17 due Hw 18 due

3/12 Fri

3/17 Wed

Final

Demo: ConservationOfAngularMomentumHuh.wm2d. Demo: Rolling disk simulation with MotionGenesis and Animake. Discussion of spin stabilization vs. rolling for riding a bike (particularly on ice). Helpful hints for Hw 20. Demo: AirConditionerWithDamping.wm2d. Demo: AirConditionerSimple.wm2d. Demo: EccentricParticleAirConditionerForcedVibrationKane.al. Demo: ParticleOnSpinningSlotKane.al. Demo: InvertedPendulumOnCartDynamics.al. Demo: SpinningBookFBD.al. Demo: SpinningBookKane.al. Demo: SpinningBookLagrange.al. Demo: BabybootWithKanesMethod.txt. Demo: SingleWheelTrailer.al. Demo: Explorer I and spinning condensed milk. Demo: Spinning to stand-up a football. Helpful hints for whose equations to use where. The needs for doing problems to build up your dynamics muscle. Last day of class. What are equations of motion good for? Discussion of linearization, stability, control, simulation, and design of equipment. Demo: Rolling disk and Eulers disk experiment, MotionGenesis, and Animake. Advanced topics: auxiliary generalized speeds and constraint forces. Impulse-momentum. Demo: KEGainImpulseMomentum.wm2d. Demo: Astro Blaster. Demo: Ernest the balancing bear. Energy and momentum integrals of the equations of motion. Linearizing equations of motion. Feed-forward control (computed torque). CAD/CAE and other commercial simulation software. Modeling exibility with exible beams and FEA modes. Working Model simulation of windmill and truck driving over bridge. Demo: Ernst the Balancing Bear. Demo: vN4DPropellor.mpg and creating appealing animations. Demo: MSC2001KickoVideo2Full.mpg and industry applications. Powerpoint presentation of advanced topics. Demo: Reecting on dynamics with BeerJohnstonMovie.avi. Ten Commandments of 3D dynamics. Final exam 12:15-3:15 in room to be announced. Demo: Its Easy song.