This page contains links to set of **notes** and **exercises** associated with a second course in rigid body dynamics. The notes cover topics relevant to two-dimensional and three-dimensional motion. A more complete presentation of three-dimensional, rigid body dynamics is provided by the 3D Dynamics eBook.

A set of exercises with answers are provided at the bottom of this page. Two of the exercises recommend practice with MATLAB/Simulink/SimMechanics®.

Trademark: MATLAB, Simulink, and SimMechanics (now called Simscape Multibody) are all registered tradmarks of The Mathworks, Inc. The Mathworks does not warrant the accuracy of the examples provided below.

**References:**

- L. Meirovitch, Methods of Analytical Dynamics, McGraw-Hill, 1970.
- T.R. Kane, P.W. Likins, and D.A. Levinson, Spacecraft Dynamics, McGraw-Hill, 1983
- T.R. Kane and D.A. Levinson, Dynamics: Theory and Application, McGraw-Hill, 1985
- R.L. Huston, Multibody Dynamics, Butterworth-Heinemann, 1990
- H. Baruh, Analytical Dynamics, McGraw-Hill, 1999
- H. Josephs and R.L. Huston, Dynamics of Mechanical Systems, CRC Press, 2002
- R.C. Hibbeler, Engineering Mechanics: Dynamics, 13th Ed., Pearson Prentice Hall, 2013
- J.L. Meriam and L.G. Craig, Engineering Mechanics: Dynamics, 3rd Ed, 1992
- F.P. Beer and E.R. Johnston, Jr. Vector Mechanics for Engineers: Dynamics, 4th Ed, 1984

**Angular Motion and Angular Velocity**

**Derivatives in Different Reference Frames**

**Kinematics of Points Fixed on Rigid Bodies**

- Relative Kinematics of Two Points Fixed on a Rigid Body
- Example System I
- Mechanical Configuration of a Robot

**Kinematics of Points Moving on Rigid Bodies**

**Motion Constraints**

- Systems with Closed Kinematic Chains
- Rolling Constraints – Point Contact
- Thrust Bearing Example
- Rolling Constraints – Line Contact
- Differential Gear Set (T.R. Kane)

**Orientation Angles and Angular Velocity**

- Orientation Angles for Rigid Bodies
- Angular Velocity and Orientation Angles
- Orientation of a Rigid Body Using Euler Parameters

**Angular Momentum and Kinetic Energy of a Rigid Body**

- Moments and Products of Inertia and the Inertia Matrix
- Angular Momentum of a Rigid Body about its Mass Center
- Angular Momentum of a Rigid Body about an Arbitrary Point
- Kinetic Energy of a Rigid Body
- Simple Crank Shaft – Angular Momentum & Kinetic Energy
- Misaligned Disk on Shaft – Angular Momentum & Kinetic Energy
- Example System II
- Example System II – Angular Momentum & Kinetic Energy

**Newton/Euler Equations of Motion**

- Newton/Euler Equations of Motion
- Bearing Loads on a Simple Crank Shaft
- Bearing Loads on a Misaligned Disk
- Newton/Euler Equations of Motion: Example System II

**Degrees of Freedom and Partial Velocities**

- Degrees of Freedom of Mechanical Systems
- Partial Velocities and Partial Angular Velocities
- Partial Velocities and the Slider Crank Mechanism

**Generalized Forces and the Principle of Virtual Work**

**Lagrange’s Differential Equations of Motion**

(Independent Generalized Coordinates)

(Independent Generalized Coordinates)

- Introduction to Lagrangian Dynamics
- Lagrange’s Equations for Multi-Degree-of-Freedom Systems
- Lagrange’s Equations Examples (2D)
- Lagrange’s Equations: Example System II

**Linearization of Equations of Motion, Natural Frequencies and Mode Shapes**

**Lagrange’s Equation of Motion**

(Dependent Generalize Coordinates)

(Dependent Generalize Coordinates)

- Configuration Constraints for Mechanical Systems
- Lagrange’s Equations for Multi-Degree-of-Freedom Systems with Dependent Generalized Coordinates
- Constraint Relaxation Method: Meaning of Lagrange Multipliers
- Example – Equations of Motion of a Slider Crank Mechanism

**Exercises**

- Homework #1 (Answers)
- Homework #2A
- Homework #2B (Answers)
- Homework #3 (Answers)
- Homework #4 (MATLAB/Simulink/SimMechanics®)
- Homework #5 (Answers)
- Homework #6 (Answers)
- Homework #7 (Answers)
- Homework #8a (Answers)
- Homework #8b (Answers)
- Homework #9 (MATLAB/Simulink/SimMechanics®)
- Homework #10 (Answers)
- Homework #11 (Answers)