3D Dynamics eBook

An Introduction to Three-Dimensional, Rigid Body Dynamics

Below are links to a set of PDF files which together provide an introduction to three-dimensional, rigid body dynamics. The files are separated into two volumes. Volume I provides an introduction to rigid body kinematics. The units of Volume II provide an introduction to rigid body kinetics. One unit in each volume provides an introduction to modeling in MATLAB/Simulink/SimMechanics® (SimMechanics is now called SimScape Multibody).

The PDF files can be opened and read in any PDF viewer/reader application. In my experience, some of the viewers work better than others, so you may want to try different viewers to optimize your experience.

Trademarks: MATLAB, Simulink, and SimMechanics (now called Simscape Multibody) are all registered trademarks of The MathWorks, Inc. The MathWorks does not warrant the accuracy of the examples given in these notes.

Unit07 - Figure Inverted Pendulum Slider
Four Degree of Freedom System