Rigid Body Dynamics of Mechanisms: 1 Theoretical Basis

The dynamics of mechanical rigid-body mechanisms is a highly developed discipline. The model equations that apply to the tremendous variety of applications of rigid-body systems in industrial practice are based on just a few basic laws of, for example, Newton, Euler, or Lagrange. These basic laws can be written in an extremely compact, symmetrical, and esthetic form, simple enough to be easily learned and kept in mind by students and engineers, not only from the area of mechanics but also f...