Computational Dynamics Notes

Chapter 4
Purpose: Degree of freedom is not known, therefore force analysis is necessary and
system of equations for motion must be formulated to equal the number of
unknown variables.
Unconstrained motion: Newton-Euler equations
Constrained, Multibody Dynamics: choosing different coordinate systems lead to
different forms of dynamic equations.
"Since the degrees of freedom, by definition, are independent and are not related
by kinematic relationships, it is expected that the constraint forces are
automatically eliminated when the equations of motion are formulated in terms of
the degrees of freedom.

4.1 DAlemberts Principle

mi a ix =F ix
i

m a y =F y
J i i=M i
Can use this equation for differential equations to govern unconstrained planar
motion of a rigid body if reference point is to be the center of mass of the body.
Joint reaction forces and acceleration are included in these set of equations

4.2 Acceleration Matrices

Can solve for acceleration equations. Methods include: augmented formulation,

embedding technique, and amalgamated formulation.
4.3 Amalgamated formulation
Constraint forces are directly inside the dynamic equations. Solving for unknown
acceleration and constraint forces.

4.4 Elimination of Dependent Accelerations

Embedding technique, not common practice, but constraint equations can be used
to eliminate dependent accelerations leading to a SOE that can be solved for the
independent accelerations and constraint forces. (Condensed form)

4.5 Embedding Technique

Constrained forces are eliminated systematically. Must use velocity transformation
matrix.

4.6 Amalgamated Formulation

Solving for acceleration and joint forces through a large system of loosely coupled
algebraic equations.

4.7 Open and Closed Chains

Analyze each body in the system, and create a set of equations for each body.
For open systems, generally solving for external and joint forces as the motion of
the system is assumed to be known and is solved by analyzing a couple of
equilibrium subsystems.
For closed systems, 2 methods: dynamic equations for each body, or cuts made to
selected secondary joints and dynamics of subsystems is examined.

4.8 Conclusion
Two main methods in computational dynamics: augmented formulation and
embedding technique.
Augmented = large system, redundant coordinates, kinematic constraints. (#
of dependent
coordinates = # of independent constraint forces)
Use: General purpose multibody computer programs
Embedding Technique: Vector of system acceleration, using velocity
transform we get independent accelerations. Minimum number of equations,
expressed as these independent
acceleration terms.
Use: eliminate constraint forces