SG2150 Rigid Body Dynamic 7.0 credits
Analytical and rigid body dynamics.
Educational levelSecond cycle
Academic level (A-D)D
Grade scaleA, B, C, D, E, FX, F
PeriodsAutumn 13 P1 (7.0 credits)
Start date2013 week: 36
End date2013 week: 44
Language of instructionEnglish
Number of lectures
Number of exercises
Form of studyNormal
Number of placesNo limitation
ScheduleSchedule (new window)
Course responsibleHanno Essén
Students that have had 15 hp of basic mechanics and feel that they need more.
TTEMM 2nd year and TFORM 1st year.
Part of programme
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.
Course main content
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.
SG1130, and SG1140 or SG1113
Recommended: H. Baruh ”Analytical Dynamics” Mc Graw-Hill, 1999.
Lecture notes by Hanno Essén cover most of the material.
- INL1 - Assignments, 2.0 credits, grade scale: P, F
- TEN1 - Examination, 5.0 credits, grade scale: A, B, C, D, E, FX, F
Requirements for final grade
Home assignments and written exam.
Course plan valid from:
Examination information valid from: Autumn 07.