CAM Design Handbook
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Computational Dynamics (Second Edition)
Ahmed A. Shabana
Copyright © 2001 by John Wiley & Sons, Inc
1 - Introduction
1.1 Computational Dynamics
1.2 Motion and Constraints
1.3 Degrees of Freedom
1.4 Kinematic Analysis
1.5 Force Analysis
1.6 Dynamic Equations and Their Different Forms
1.7 Forward and Inverse Dynamics
1.8 Planar and Spatial Dynamics
1.9 Computer and Numerical Methods
1.10 Organization, Scope, and Notations of the Book

2.Linear Algebra
2.1 Matrices 23
2.2 Matrix Operations 25
2.3 Vectors 35
2.4 Three-Dimensional Vectors 45
2.5 Solution of Algebraic Equations 52
2.6 Triangular Factorization 60
*2.7 QR Decomposition
KINEMATICS
3.1 Mechanical Joints / 96
3.2 Coordinate Transformation / 104
3.3 Position, Velocity, and Acceleration Equations /
3.4 Kinematics of a Point Moving on a Rigid Body
3.5 Constrained Kinematics / 132
3.6 Formulation of the Joint Constraints / 136
3.7 Computational Methods in Kinematics / 150
3.8 Computer Implementation / 159
3.9 Kinematic Modeling and Analysis / 171
3.10 Concluding Remarks / 180
Problems / 181
4 FORMS OF THE DYNAMIC EQUATIONS
4.1 D’Alembert’s Principle / 189
4.2 Constrained Dynamics / 194
4.3 Augmented Formulation / 196
4.4 Elimination of the Dependent Accelera
4.5 Embedding Technique / 199
4.6 Amalgamated Formulation / 202
4.7 Open and Closed Chains / 203
4.8 Concluding Remarks / 215
Problems / 216 ....v.v.

U.S Army Weapons Systems 2010
Department of Army
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