Intermediate Dynamics for Engineers

Suitable for both senior-level and first-year graduate courses this fully revised edition provides a unique and systematic treatment of engineering dynamics that covers Newton-Euler and Lagrangian approaches. New to this edition are: two completely revised chapters on the constraints on and potential energies for rigid bodies and the dynamics of systems of particles and rigid bodies; clearer discussion on coordinate singularities and their relation to mass matrices and configuration manifolds; additional discussion of contravariant basis vectors and dual Euler basis vectors as well as related works in robotics; improved coverage of navigation equations; inclusion of a 350-page solutions manual for instructors available online; a fully updated reference list. Numerous structured examples discussion of various applications and exercises covering a wide range of topics are included throughout and source code for exercises and simulations of systems are available online.