James W. Kamman, Ph.D.
Associate Professor Emeritus
Mechanical & Aerospace Engineering
Western Michigan University
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ME 4590 Dynamics of Machinery: Selected Course Notes    

Below are links to some selected course notes.  Each is in PDF format that you can read and print using Adobe Acrobat Reader.  To download a free copy of Acrobat reader, click on the Adobe Acrobat Reader link below.

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Selected Course Notes:

Rectilinear and Curvilinear Motion Review

  1. Rectilinear Motion Review  

  2. Curvilinear Motion Review   

  3. Curvilinear Motion Review - Part 2   

  4. Curvilinear Motion Review - Part 3 

Derivatives in Different Reference Frames

  1. The Derivative Rule 

Kinematics of Points Fixed on Rigid Bodies

  1. Relative Kinematics of Two Points Fixed on a Rigid Body  

  2. Rolling (without Slipping) in Two Dimensions 

Kinematics of Points Moving on Rigid Bodies

  1. Kinematics of a Point Moving on a Rigid Body  

Center of Mass, Moments of Inertia and Angular Momentum

  1. Center of Mass in Two Dimensions  

  2. Mass Moments of Inertia in Two Dimensions 

  3. Inertia Table

  4. Angular Momentum of a Rigid Body in Two Dimensions  

Newton's Equations of Motion (2D)

  1. Newton's Equations of Motion in Two Dimensions

  2. Example Four-Bar Mechanism  

Inverse and Forward Kinematics and Dynamics

  1. Definitions of Inverse Kinematics and Dynamics 

  2. Definitions of Forward Kinematics and Dynamics   

Flywheels and the Power Equation

  1. Flywheels 

  2. Power Equation  

Three Dimensional Shapes Rotating about a Fixed Axis

  1. Moments and Products of Inertia and the Inertia Matrix  

  2. Angular Momentum - Fixed Axis Rotation 

  3. Angular Momentum of a Simple Crank Shaft

  4. Equations of Motion for Fixed Axis Rotation

  5. Bearing Loads on a Simple Crank Shaft

Degrees of Freedom, Generalized Coordinates and Partial Velocities

  1. Degrees of Freedom of Mechanical Systems    

  2. Partial Velocities and Partial Angular Velocities

  3. Partial Velocities and the Slider Crank Mechanism

Generalized Forces and the Principle of Virtual Work

  1. Generalized Forces

  2. Principle of Virtual Work

  3. Principle of Virtual Work - Example

Lagrangian Dynamics and Differential Equations of Motion (EOM)

  1. Introduction to Lagrangian Dynamics   

  2. Lagrange's Equations for One Degree-of-Freedom, Planar Systems    

  3. Lagrange's Equations for Multi-Degree-of-Freedom, Planar Systems 

  4. Lagrange's Equations Examples

Natural Frequencies and Mode Shapes

  1. Natural Frequencies and Mode Shapes for Rigid Body Systems   

  2. Linearization of Functions of One or Many Variables

Equations of Motion for Multibody Systems using Dependent Coordinates

  1. Configuration Constraints for Mechanical Systems

  2. Lagrange's Equations for Multi-Degree-of-Freedom Systems with Dependent Generalized Coordinates

  3. Constraint Relaxation Method: The Meaning of Lagrange Multipliers

  4. Equations of Motion - Slider Crank Mechanism