# SG2150Stelkroppsdynamik7,0 hp

## Rigid Body Dynamic

Analytisk och stelkroppsmekanik.

D

• #### Betygsskala

A, B, C, D, E, FX, F

## Kurstillfällen/kursomgångar

### HT13 TTEMM, TFORM för programstuderande

• #### Perioder

HT13 P1 (7,0 hp)

50534
• #### Kursen startar

2013 vecka: 36
• #### Kursen slutar

2013 vecka: 44

Engelska

KTH Campus

Dagtid

Normal
• #### Antal platser

Ingen begränsning
• #### Schema

Schema (nytt fönster)

Hanno Essén

Hanno Essén
• #### Målgrupp

TTEMM åk 2, TFORM åk 1, men öppen för alla program som läst Mekanik II eller motsvarande.

## Lärandemål

After the course the students should be able to:

Find and combine moments of inertia and construct inertia tensors.

Use the Newton-Euler vector formalism to solve rigid body problems.

Calculate the generalized forces for holonomic few-body systems.

Calculate Lagrangian functions for holonomic few-body systems, by hand and by using computer algebra.

Derive Lagrangian equations of motion for holonomic few-body systems, by means of computer algebra when necessary.

Solve these equations, numerically as well as analytically, for a number of standard problem types, including impact problems and coupled oscillation problems.

## Kursens huvudsakliga innehåll

Rigid body kinematics. General dynamic equations for a system of particles. General 3D motion of a rigid body. Analytical mechanics with application to systems of particles, rigid bodies and systems of rigid bodies. In particular Lagrangian methods including generalized coordinates, velocities, momenta and forces, cyclic coordinates and conservation laws.

Applications include dynamics of planar multibody mechanisms, gyroscopic effects in 3D-motion, impact problems, linearization and coupled oscillations, normal modes. Problems are treated with modern computational methods including symbolical (Maple) and numerical treatment.

## Behörighet

SG1130, och SG1140 eller SG1113

## Litteratur

Recommended: H. Baruh ”Analytical Dynamics” Mc Graw-Hill, 1999.
Lecture notes by Hanno Essén cover most of the material.

## Examination

• INL1 - Inlämningsuppgifter, 2,0 hp, betygsskala: P, F
• TEN1 - Tentamen, 5,0 hp, betygsskala: A, B, C, D, E, FX, F

## Krav för slutbetyg

Home assignments and written exam.

SCI/Mekanik

Hanno Essén

Hanno Essén