James W. Kamman, Ph.D.
Associate Professor Emeritus
Mechanical & Aerospace Engineering
Western Michigan University
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ME 5550 Intermediate Dynamics: 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 Acrobat Reader link below.

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Selected Course Notes:

Angular Motion and Angular Velocity

  1. Simple Angular Motion 

  2. Summation Rule for Angular Velocities 

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. Example System I   

  3. Mechanical Configuration of a Robot   

Kinematics of Points Moving on Rigid Bodies

  1. Kinematics of a Point Moving on a Rigid Body

  2. Example: Slider on a Rotating Bar  

Motion Constraints

  1. Systems with Closed Kinematic Chains  

  2. Rolling Constraints - Point Contact  

  3. Thrust Bearing Example 

  4. Rolling Constraints - Line Contact 

  5. Differential Gear Set

Orientation Angles and Angular Velocity

  1. Orientation Angles for Rigid Bodies  

  2. Angular Velocity and Orientation Angles

  3. Orientation Angle Combinations

  4. Orientation of a Rigid Body Using Euler Parameters

Angular Momentum and Kinetic Energy of a Rigid Body

  1. Moments and Products of Inertia and the Inertia Matrix

  2. Inertia Table

  3. Angular Momentum of a Rigid Body about its Mass Center  

  4. Angular Momentum of a Rigid Body about an Arbitrary Point 

  5. Kinetic Energy of a Rigid Body

  6. Simple Crank Shaft - Angular Momentum & Kinetic Energy

  7. Misaligned Disk on Shaft - Angular Momentum & Kinetic Energy

  8. Example System II

  9. Example System II - Angular Momentum & Kinetic Energy

Newton/Euler Equations of Motion

  1. Newton/Euler Equations of Motion

  2. Bearing Loads on a Simple Crank Shaft

  3. Bearing Loads on a Shaft with Misaligned Disk

  4. Newton/Euler Equations of Motion: Example System II 

Degrees of Freedom 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

Lagrange's Differential Equations of Motion (Independent Generalized Coordinates)

  1. Introduction to Lagrangian Dynamics 

  2. Lagrange's Equations for Multi-Degree-of-Freedom Systems

  3. Lagrange's Equations Examples (2D)

  4. Lagrange's Equations: Example System II

Linearization of Equations of Motion, Natural Frequencies and Mode Shapes

  1. Linearization of Functions of One or Many Variables 

  2. Natural Frequencies and Mode Shapes 

Lagrange's Equation of Motion (Dependent Generalize 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: Meaning of Lagrange Multipliers 

  4. Equations of Motion: Slider Crank Mechanism