SG2150 Stelkroppsdynamik 7,0 hp

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.

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.

Engelska B/ Engelska 6 

SG1130, och SG1140 eller SG1113

När kurs inte längre ges har student möjlighet att examineras under ytterligare två läsår.

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

Examinator beslutar, baserat på rekommendation från KTH:s handläggare av stöd till studenter med funktionsnedsättning, om eventuell anpassad examination för studenter med dokumenterad, varaktig funktionsnedsättning.

Examinator får medge annan examinationsform vid omexamination av enstaka studenter.

Home assignments and written exam.

Arne Nordmark

• Vid grupparbete har alla i gruppen ansvar för gruppens arbete.
• Vid examination ska varje student ärligt redovisa hjälp som erhållits och källor som använts.
• Vid muntlig examination ska varje student kunna redogöra för hela uppgiften och hela lösningen.