SG2150 Rigid Body Dynamic 7.0 credits


Analytical and rigid body dynamics.

  • Education cycle

    Second cycle
  • Main field of study

  • Grading scale

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

Course offerings

Autumn 19 for programme students

Autumn 18 for programme students

Intended 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.

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, grading scale: P, F
  • TEN1 - Examination, 5.0, grading scale: A, B, C, D, E, FX, F

Requirements for final grade

Home assignments and written exam.

Offered by



Arne Nordmark


Arne Nordmark <>

Add-on studies

SG2126, SG2127.


Course syllabus valid from: Autumn 2007.
Examination information valid from: Autumn 2007.