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Texas A&M University

Department of Mechanical Engineering

MEEN 613
Engineering Dynamics
Fall 2006
Course Description:
Introduction to vector mechanics and kinetics of rigid bodies in 2-D and 3-D space
Introduction to mathematical methods to derive equations of motion
Introduction to numerical techniques for three-dimensional dynamics of rigid body
Prerequisite for flexible multi-body dynamics and robotics

MEEN 363 (or equivalent course) or graduate standing

Name : Dr. Daejong Kim
Main campus : EPB 124, 845-5243
Turbo Lab : #117, 458-1653
Email :

Times and Locations: MWF 09:10 – 10:00AM, ENPH 205

Office Hours: MW 10:10~11:10AM, Thursday 12:40~2:40PM

Text book: Analytical Dynamics, Haim Baruh, 1999, McGraw-Hill

References: Dynamics, Stephen H. Crandall et al, 1968, McGraw-Hill
Dynamics, Dara Childs, Custom copy, John Wiley
Grading: (A, B, C, and D, correspond to 90+, 80+, 70+, 60+):
Homework : 10%
Term project : 15%
Three mid term exams: 45% (15% each)
Final exam : 30%

Term project:
Team formation (due Oct 13, two persons per team)
Topic identification and one page description (due Nov 17)
Final report with 12~15 pages (due Date of final exam)
Topic: Each team can choose any dynamics-related problem close to their research
projects or research interests. Problem should involve numerical simulations of three-
dimensional motions using any programming language.

Assignments: Homework due will be specified on homework paper. You need to prepare
your homework such that the solution to each problem is on a separate piece of paper that
can be handed in individually. Late homework will not be accepted except for the
university-excused absence. All written work must be clear and professionally done with
all the steps leading to the solution clearly marked.

Class Website:
We will be using WebCT to distribute homework, homework solution, and information
on administrative aspects of the class. Class handouts (if any) will be distributed at the
beginning of the each class

University "Neo e-mail" accounts are official means of communication between the
university and students – see Student Rule 61. Student E-Mail, http://student- All the important announcements related to class will be made through
Neo email. Personal email accounts (yahoo, gmail, hotmail, etc) should be linked
properly to Neo account so that all the important messages can be checked in a timely

Policy on Grading Complaints:

If you feel a mistake was made in grading an exam and homework, complaints should be
made (via email or office visit) within one week of the return of the graded materials. No
consideration will be given to complaints submitted after the one-week time frame.

Copyrighted Material and Plagiarism:

The handouts used in this course are copyrighted, which means that you can do not copy
the handouts unless we expressly grant you permission. By “handouts,” we mean all
materials generated for this class, which include but are not limited to syllabi, quizzes,
exams, lab problems, in-class materials, review sheets, and additional problem sets.
As commonly defined, plagiarism consists of passing off as one’s own the ideas, words,
writings, etc., which belong to another. In accordance with this definition, you are
committing plagiarism if you copy the work of another person and turn it in as your own,
even if you should have the permission of that person. Plagiarism is one of the worst
academic sins, for the plagiarist destroys the trust among colleagues without which
research cannot be safely communicated. If you have any questions regarding plagiarism,
please consult the latest issue of the Texas A&M University Student Rules, under the
section “Scholastic Dishonesty.”

Americans with Disabilities Act (ADA) Policy Statement

The Americans with Disabilities Act (ADA) is a federal anti-discrimination statute that
provides comprehensive civil rights protection for persons with disabilities. Among other
things, this legislation requires that all students with disabilities be guaranteed a learning
environment that provides for reasonable accommodation of their disabilities. If you
believe you have a disability requiring an accommodation, please contact Disability
Services ( in Room B118 of Cain Hall or call 845-1637.

Academic Integrity Statement

Aggie Honor Code: "An Aggie does not lie, cheat, or steal, or tolerate those who do."
Upon accepting admission to Texas A&M University, a student immediately assumes a
commitment to uphold the Honor Code, to accept responsibility for learning and to
follow the philosophy and rules of the Honor System. Students will be required to state
their commitment on examinations, research papers, and other academic work. Ignorance
of the rules does not exclude any member of the Texas A&M University community from
the requirements or the processes of the Honor System. For additional information please
visit: On all course work, assignments, and examinations at
Texas A&M University, the following Honor Pledge shall be preprinted and signed by
the student: "On my honor, as an Aggie, I have neither given nor received unauthorized
aid on this academic work."
Course Schedule (Tentative)
Particle kinematics in Cartesian, polar, and curvilinear coordinates, examples
Degree of freedom and constraints
Work and energy, conservative and non-conservative forces
Equilibrium and stability
Dynamics of a system of particles
Planar kinetics of rigid bodies, governing equations, examples
Planar kinetics, force and moment equations of motion, kinetic energy of a rigid body
Planar mechanisms, bars and links with fixed length
Evening Exam 1 (Sep 25)
Holonomic and non-holonomic constraints
Variational principle, Hamilton’s principle
Deriving Lagrange’s equations, examples with no kinematic constraints
Examples with algebraic kinematic constraints, Lagrange multipliers
Evening Exam 2 (Oct 9)
Moving coordinate frames in 3D
Direction cosines, rotation matrices, examples
Infinitesimal rotations, angular velocity, examples
Rate of change of a vector, angular acceleration, examples
Relative velocity and acceleration, examples
Euler’s and Chasles’s theorem
Relation between direction cosines and angular velocity
Euler’s angles, General 3D kinematic equations using Euler angles, examples
Euler parameters
Relation between direction cosines, angular velocity, and Euler parameters
Three-dimensional rolling, examples
Evening Exam 3 (Nov 6, tentative)
Properties of the inertia matrix, parallel axis theorem
Transformation (translation and rotation) property of moment of inertia
Principle moments of inertia
Linear and angular momentum equations in body fixed and non-body fixed coordinates
Transformation properties of angular momentum
Euler equations of motion
Rotation about a fixed axis
Kinetic energy and work of a rigid body
Lagrange equation and D’Alembert principle for 3-D rigid body
Moment-free motion of an axisymmetric body
Stability of motion of a spinning body
Final Exam (TBD)