ADVANCED DYNAMICS Modeling and Analysis A. Frank D'Souza Vijay K. GargADVANCED DYNAMICS Modeling and Analysis A. FRANK D’SOUZA D tment of Mechanical Engineering ois Ins of Technology Chicago, Illinois VIJAY K. GARG Research and Test Department Association of American Railroads Chicago, Illinois ett A ron wees Qe \ 7 yah ap eS) | PRENTICE-HALL, INC., Englewood Cliffs, New Jersey 07632Sen Library of Congress Cataloging in Publie«ti D'Souza, A. Frank, ‘Advanced dynamics. Includes bibliographical references and index. TDynamics J. Garg, Viiay Kumar IL Title. A805.D 79 1984 S3Vav'0ist 83-4549 ISBN 0-13-011312-3, Editorial/production supervision and interior design: Ellen Denning ‘Manufacturing buyer: Anthony Caruso © 1984 by Prentice-Hall, Inc., Englewood Cliffs, New Jersey 07632 [All rights reserved. No part of this book may be reproduced, in any form or by any means, without permission in writing from the publisher. Printed in the United States of America 309876543 ISBN O-13-011312-3 PRENTICE-HALL INTERNATIONAL INC., London PRENTICE-HALL OF AUSTRALIA PTY. LIMITED, Sydney EDITORA PRENTICE-HALL DO BRASIL, LTDA., Rio de Janeiro PRENTICE-HALL CANADA INC., Toronto PRENTICE-HALL OF INDIA PRIVATE LIMITED, New Delhi PRENTICE-HALL OF JAPAN, INC., Tokyo PRENTICE-HALL OF SOUTHEAST ASIA PTE. LTD., Singapore WHITEHALL BOOKS LIMITED, Wellington, New Zealand CONTENTS 2. PREFACE ART I Modeling 1 INTRODUCTION Classical Dynamics of Particles and Rigid Bodies 7 Relativistic and Nonrelativistic Dynamics 2 Intertial Coordinates, s, and Kinetics 3 Newtonian Dynamics 4 Lagrangian Dynamics 6 Summary 7 References 7 1 1 1: i 1 iL oonnRwrn> KINEMATICS 2.1 Introduction & 2.2 Inertial Cartesian Cooordinate System 9 2.3. Motion Relative to a Frame in Translation 70 2.4 Tangential and Normal Coordinates 12 2.5 Polar and Cylindrical Coordinates 75