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Before choosing course

Course offering missing for current semester as well as for previous and coming semesters
* Retrieved from Course syllabus SG2151 (Autumn 2008–)

Content and learning outcomes

Course contents

Techniques for dealing with multiple coordinate systems and complex kinematics. The geometric ideas and the computer algebra (Maple is used) needed for such problems are introduced. Dyads and rotations. Kane's equations. The rigid body and its inertia dyad. Redundant variables and non-holonomic systems. Analysis of constraint forces. Kane’s method is interpreted in terms of the geometry of the configuration manifold for such systems. Techniques of symbolic manipulations are introduced for deriving equations of motion using Kane's method. Emphasis is on problems that occur in modern practice and that require multiple coordinate systems for their formulation.

Intended learning outcomes

After the course the students should have the techniques needed to deal with modeling mechanical systems, such as robots, vehicles, space satellites and other multibody systems. The student will also be made aware of the requirements of carrying out and presenting numerical solutions of such problems.

Course Disposition

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Literature and preparations

Specific prerequisites

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Recommended prerequisites

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Lesser, M. 1995. The Analysis of Complex Nonlinear Mechanical Systems: A Computer Algebra Assisted Approach. World Scientific.

Examination and completion

If the course is discontinued, students may request to be examined during the following two academic years.

Grading scale

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


  • TEN1 - Examination, 8,0 hp, betygsskala: A, B, C, D, E, FX, F

Based on recommendation from KTH’s coordinator for disabilities, the examiner will decide how to adapt an examination for students with documented disability.

The examiner may apply another examination format when re-examining individual students.

Other requirements for final grade

Project work.

Opportunity to complete the requirements via supplementary examination

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Opportunity to raise an approved grade via renewed examination

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Ethical approach

  • All members of a group are responsible for the group's work.
  • In any assessment, every student shall honestly disclose any help received and sources used.
  • In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.

Further information

Course web

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Offered by


Main field of study

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Education cycle

Second cycle

Add-on studies

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