Course Notes
Fall 2006

Courtesy Dr. Ara Arabyan

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Module	Module Title
	Introduction
1	Coordinate Systems and Reference Frames
2	Coordinate Transformations
3	Finite Rotations Example 1 (Prob. 3.6 in Ginsberg 2nd Ed) Example 2 (Angle and axis of rotation) Download basic Matlab routines for finite rotation problems
4	Review of Vector Differentiation Differentiation of a unit vector Alternate notation for cross product
5	Velocity and Acceleration of a Particle Note on angular velocity Example 3 (Prob. 3.23 in Ginsberg 2nd Ed) Example 4 (Prob. 3.15 in Ginsberg 2nd Ed) Alternate Form of Velocity and Acceleration Velocity and acceleration using common coordinate systems Path coordinates and Frenet frames
6	Dynamics of a Particle Example 5 (Prob. 3.44 in Ginsberg 2nd Ed) Matlab code for Example 5 Example 6 (Position dependent forces) Example 7 (Position dependent forces with periodic motion) Example 8 (Velocity dependent forces)
7	Momentum and Energy Principles Example 9 (Earth's potential field) Example 10 (Conservation of energy and angular momentum)
8	Systems of Particles Example 11 (Energy and angular momentum for a pair of particles) Example 12 (Moment and angular momentum about accelerating point)
9	Impact and Collision Example 13 (Impact and change in linear and angular momentum) Example 14 (Impact between a particle and the ground in the presence of friction and gravity)
10	Dynamics of Rigid Bodies Euler angles Example 15 (Dynamics of asymmetric axle with wheels) Example 16 (Stability of rotation of a rigid body about a principal axis)
11	Introduction to Analytical Mechanics Generalized Coordinates and Degrees of Freedom Constraints and Their Classification Example 17 (Constraints associated with rolling disk) Constraint Forces and Virtual Work Lagrange's Equations Example 18 (Prob. 6.27 in Ginsberg 2nd Ed) Lagrange Multipliers Example 19 (Lagrange's equations in the presence of a nonholonomic constraint) Example 20 (Use of Lagrange multipliers to determine constraint forces)
12	Computational Methods in Dynamics Example 21 (Numerical solution of Example 19) Matlab code for Example 21

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