Review of planar motion of rigid bodies and Newton-Euler equations of motion; constraints – holo- nomic and non-holonomic constraints, Newton-Euler equations for planar inter connected rigid bod- ies; D’Alembert’s principle, generalized coordinates; alternative formulations of analytical mechanics and applications to planar dynamics – Euler-Lagrange equations, Hamilton’s equations and ignorable coordinates, Gibbs-Appel and Kane’s equations; numerical solution of differential and differential al- gebraic equations; spatial motion of a rigid body – Euler angles, rotation matrices, quaternions, Newton-Euler equations for spatial motion; equations of motion for spatial mechanisms.

Same as Reference

1. Ginsberg, J., Engineering Dynamics, Cambridge Univ. Press (2008).

2. Ardema, M. D., Analytical Dynamics: Theory and Applications, Kluwer Academic/Plenum Publishers (2005).

3. Fabien, B. C., Analytical System Dynamics: Modeling and Simulation, Springer (2009).

4. Harrison, H. R. and Nettleton, T., Advanced Engineering Dynamics, Arnold (1997).

5. Moon, F. C., Applied Dynamics, Wiley (1998).

6. Kane, T. R. and Levinson, D. A., Dynamics: Theory and Applications, McGraw-Hill (1985).

Course Outcomes (COs):

CO1: Apply basic particle dynamics to 2-dimensional and 3-dimensional rigid bodies.

CO2: Analyse and derive equations of motion using different formulations for multi-body systems.

CO3: Use numerical methods to find solutions of equations.