Intermediate Dynamics for Engineers
Newton-Euler and Lagrangian Mechanics

A fully revised second edition providing a systematic treatment of engineering dynamics that covers Newton–Euler and Lagrangian approaches.

Oliver M. O'Reilly (Author)

9781108494212, Cambridge University Press

Hardback, published 30 January 2020

540 pages, 170 b/w illus.
25.3 x 17.9 x 2.9 cm, 1.21 kg

'This book is unusual amongst dynamics books in that it treats rotation as an operator, a tensor, which acts on vectors. The more common approach in other books is to treat rotation, indirectly, as a matrix used for a change of coordinates. O'Reilly's rotation-is-a-tensor approach is common in continuum mechanics and is, I think, simply better. It allows direct derivation of the various component formulas without notational tricks.' Andy Ruina, Cornell University

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.

Part I. A Single Particle: 1. Kinematics of a particle
2. Kinetics of a particle
3. Lagrange's equations of motion for a single particle
Part II. A System of Particles: 4. Equations of motion for a system of particles
5. Dynamics of systems of particles
Part III. A Single Rigid Body: 6. Representations of rotations
7. Kinematics of rigid bodies
8. Constraints on and potential energies for a rigid body
9. Kinetics of a rigid body
10. Lagrange's equations of motion for a single rigid body
Part IV. Systems of Particles and Rigid Bodies: 11. Dynamics of systems of particles and rigid bodies.

Subject Areas: Robotics [TJFM1], Mechanics of solids [TGMD], Fluid mechanics [PHDF]