Chapter 1
Background and Roadmap 1
1.1 Newtons Laws 2
1.2 How Youll Be Approaching Dynamics 2
1.3 Units and Symbols 6
1.4 Gravitation 10
1.5 The Pieces of the Puzzle 11
Chapter 2
Motion of Translating Bodies 16
2.1 Straight-Line Motion 17
Examples 23
Exercises 2.1 28
2.2 Cartesian Coordinates 33
Examples 38
Exercises 2.2 43
2.3 Polar and Cylindrical Coordinates 47
Examples 54
Exercises 2.3 58
2.4 Path Coordinates 64
Examples 67
Exercises 2.4 71
2.5 Relative Motion and Constraints 76
Examples 82
Exercises 2.5 87
2.6 Just the Facts 93
System Analysis 97
Chapter 3
Inertial Response of Translating Bodies 99
3.1 Cartesian Coordinates 100
Examples 102
Exercises 3.1 108
3.2 Polar Coordinates 119
Examples 120
Exercises 3.2 127
3.3 Path Coordinates 133
Examples 134
Exercises 3.3 139
3.4 Linear Momentum and Linear Impulse 143
Examples 145
Exercises 3.4 147
3.5 Angular Momentum and Angular Impulse 155
Examples 158
Exercises 3.5 161
3.6 Orbital Mechanics 163
Examples 176
Exercises 3.6 178
3.7 Impact 183
Examples 189
Exercises 3.7 191
3.8 Oblique Impact 193
Examples 196
Exercises 3.8 200
3.9 Just the Facts 203
System Analysis 206
Chapter 4
Energetics of Translating Bodies 209
4.1 Kinetic Energy 210
Examples 212
Exercises 4.1 215
4.2 Potential Energies and Conservative Forces 220
Examples 225
Exercises 4.2 231
4.3 Power and Efficiency 243
Examples 247
Exercises 4.3 250
4.4 Just the Facts 255
System Analysis 257
Chapter 5
Multibody Systems 258
5.1 Force Balance and Linear Momentum 259
Examples 263
Exercises 5.1 268
5.2 Angular Momentum 273
Examples 277
Exercises 5.2 279
5.3 Work and Energy 282
Examples 284
Exercises 5.3 287
5.4 Stationary Enclosures with Mass Inflow and Outflow 288
Examples 291
Exercises 5.4 293
5.5 Nonconstant Mass Systems 299
Examples 303
Exercises 5.5 305
5.6 Just the Facts 310
System Analysis 313
Chapter 6
Kinematics of Rigid Bodies Undergoing Planar Motion 314
6.1 Relative Velocities on a Rigid Body 315
Examples 320
Exercises 6.1 325
6.2 Instantaneous Center of Rotation (icr) 333
Examples 335
Exercises 6.2 341
6.3 Rotating Reference Frames and Rigid-Body Accelerations 346
Examples 350
Exercises 6.3 356
6.4 Relative Motion on a Rigid Body 361
Examples 365
Exercises 6.4 371
6.5 Just the Facts 378
System Analysis 380
Chapter 7
Kinetics of Rigid Bodies Undergoing Two-dimensional Motion 382
7.1 Curvilinear Translation 384
Examples 385
Exercises 7.1 392
7.2 Rotation about a Fixed Point 396
Examples 401
Exercises 7.2 411
7.4 Linear/Angular Momentum of Two-Dimensional Rigid Bodies 457
Examples 460
Exercises 7.4 462
7.5 Work/Energy of Two-Dimensional Rigid Bodies 468
Examples 471
Exercises 7.5 475
7.6 Just the Facts 482
System Analysis 484
Chapter 8
Kinematics and Kinetics of Rigid Bodies in Three-dimensional Motion 487
8.1 Spherical Coordinates 488
8.2 Angular Velocity of Rigid Bodies in Three-Dimensional Motion 489
Examples 493
8.3 Angular Acceleration of Rigid Bodies in Three-Dimensional Motion 495
Examples 496
8.4 General Motion of and on Three-Dimensional Bodies 497
Examples 498
Exercises 8.4 502
8.5 Moments and Products of Inertia for a Three-Dimensional Body 506
8.6 Parallel Axis Expressions for Inertias 508
Examples 510
Exercises 8.6 511
8.7 Angular Momentum 513
Examples 517
Exercises 8.7 520
8.8 Equations of Motion for a Three-Dimensional Body 521
Examples 524
Exercises 8.8 526
8.9 Energy of Three-Dimensional Bodies 532
Examples 534
Exercises 8.9 536
8.10 Just the Facts 537
System Analysis 541
7.3 General Motion 422
Examples 425
Exercises 7.3 444
Chapter 9
Vibratory Motions 542
9.1 Undamped, Free Response for Single-Degree-of-Freedom Systems 543
Examples 546
Exercises 9.1 549
9.2 Undamped, Sinusoidally Forced Response for Single-Degree-of- Freedom Systems 555
Examples 558
Exercises 9.2 560
9.3 Damped, Free Response for Single-Degree-of-Freedom Systems 563
Examples 567
Exercises 9.3 568
9.4 Damped, Sinusoidally Forced Response for Single-Degree-of- Freedom Systems 569
Examples 572
Exercises 9.4 575
9.5 Just the Facts 576
System Analysis 579
Appendix A
Numerical Integration Light 580
Appendix B
Properties of Plane and Solid Bodies 588
Appendix C
Some Useful Mathematical Facts 592
Appendix D
Material Densities 595
Bibliography 597
Index 598
