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Rational Kinematics

  • Book
  • © 1988

Overview

Authors:
  1. Jorge Angeles

    1. Department of Mechanical Engineering, McGill University, Montreal, Canada

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Part of the book series: Springer Tracts in Natural Philosophy (STPHI, volume 34)

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Table of contents (5 chapters)

  1. Front Matter

    Pages i-xii
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  2. Preliminary Notions

    • Jorge Angeles
    Pages 1-11

  3. Displacement of a Rigid Body

    • Jorge Angeles
    Pages 12-34

  4. Velocity Analysis of Rigid-Body Motions

    • Jorge Angeles
    Pages 35-64

  5. Acceleration Analysis of Rigid-Body Motions

    • Jorge Angeles
    Pages 65-77

  6. Kinematic Chains

    • Jorge Angeles
    Pages 78-122

  7. Back Matter

    Pages 123-137
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Keywords

About this book

A rational study of kinematics is a treatment of the subject based on invariants, i.e., quantities that remain essentially unchanged under a change of observer. An observer is understood to be a reference frame supplied with a clock (Truesdell 1966). This study will therefore include an introduction to invariants. The language of these is tensor analysis and multilinear algebra, both of which share many isomorphic relations, These subjects are treated in full detail in Ericksen (1960) and Bowen and Wang (1976), and hence will not be included here. Only a short account of notation and definitions will be presented. Moreover, definitions and basic concepts pertaining to the kinematics of rigid bodies will be also included. Although the kinematics of rigid bodies can be regarded as a particular case of the kinematics of continua, the former deserves attention on its own merits for several reasons. One of these is that it describes locally the motions undergone by continua. Another reason is that a whole area of mechanics, known as classical dynamics, is the study of the motions undergone by particles, rigid bodies, and systems thereof.

Authors and Affiliations

  • Department of Mechanical Engineering, McGill University, Montreal, Canada

    Jorge Angeles

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