Analytical Mechanics

I will teach basics and applications of analytical mechanics emphasizing variation principle of statics, variation principle of dynamics, and method of variation. These issues will be applied to mechanics of rigid body systems and vibration, which are important topics in mechatoronics.

1st 9/27Introduction: Newton mechanics vs analytical mechanics
2nd10/4 Variational Principles: variational principle in statics, variational principle in dynamics
3rd10/18Variational Principles: principle of virtual works, Hamilton's principle
4th10/20Variational Principles: numerical method for ODEs, constraint stabilization method (CSM)
5th10/25Motion of Mass: Lagrange equation of motion, cylindrical and spherical coordinate systems
6th11/1 Link Mechanisms: planar open link mechanism, planar closed link mechanism
7th11/8 Rigid Body Rotation: planar rotation, object coordinate system, inertia of moment
8th11/15Rigid Body Rotation: spatial rotation, rotation matrix, angular velocity vector, quaternions
9th11/22Rigid Body Rotation: equation of rotation, forced rotation
10th11/29Elastic Deformation: elastic potential energy, finite element method (FEM)
11th12/6 Elastic Deformation: kinetic energy, dynamic equation of deformation
12th12/13Elastic Deformatino: 2D/3D elastic deformation
13th12/20Elastic Deformatino: Green strain
14th 1/10Inelastic Deformation: 1D inelastic deformation
15th 1/17Inelastic Deformation: 2D/3D inelastic deformation

1st    Introduction (updated 2012/9/26) reduced copy
2nd-4th    Variational Principles (updated 2012/9/26) reduced copy            detailed explanation
5th    Motoin of Mass (updated 2012/10/4) reduced copy
6th-8th    Rigid Bidy Rotation (updated 2012/10/4) reduced copy            detailed explanation
9th    Link Mechanisms (updated 2012/11/8) reduced copy
10th,11th    Elastic Deformation (updated 2012/11/6) reduced copy
12th,13th    Inelastic Deformation (updated 2012/11/6) reduced copy            detailed explanation
14th,15th    Extension of FEM (updated 2013/1/7) reduced copy

Reports and Examination. You will pass the examination when your total score exceeds 60 points.
No textbook is specified. You are recommended to read the reference books below.
Reference Books
Analytical Dynamics : A New Approach     Robert E. Kalaba     Cambridge University Press
Analytical Dynamics     Haim Baruh     McGraw-Hill Higher Education

You are requested to study Newton mechanics (classical mechanics). In addition, you should complete differential and integral calculus.