# SG2150Rigid Body Dynamic7.0 credits

## Stelkroppsdynamik

Analytical and rigid body dynamics.

Second cycle

D
• #### Subject area

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

## Course offerings

### Autumn 13 TTEMM, TFORM for programme students

• #### Periods

Autumn 13 P1 (7.0 credits)

50534
• #### Start date

2013 week: 36
• #### End date

2013 week: 44

English

KTH Campus

Daytime

Normal
• #### Number of places

No limitation
• #### Schedule

Schedule (new window)

Hanno Essén

Hanno Essén
• #### Target group

Students that have had 15 hp of basic mechanics and feel that they need more.

TTEMM 2nd year and TFORM 1st year.

## Learning outcomes

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.

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.

## Eligibility

SG1130, and SG1140 or SG1113

## Literature

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

## Examination

• INL1 - Assignments, 2.0 credits, grade scale: P, F
• TEN1 - Examination, 5.0 credits, grade scale: A, B, C, D, E, FX, F

Home assignments and written exam.

SCI/Mechanics

Hanno Essén

Hanno Essén