Advanced Dynamics

Course content

Three dimensional kinematics: Coordinate systems and transformation. Spatial rotations. Euler angles. Relative velocity and acceleration relationships. Basics of Newtonian mechanics. Inertia tensor. Rigid body dynamics. Gyroscopic effects. Analytical mechanics: Hamilton's principle. Generalized coordinates and forces. Lagrange's equations. Holonomic and nonholonomic constraints. Lagrange multipliers and Lagrange's equations with constraints. Hamilton's equations. (F)