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Engineering Dynamics Jerry H. Ginsberg

Errata to the First Printing. Prepared September 9, 2008

This is the second version of an errata for Engineering Dynamics. Corrections reported here will be incorporated into the second printing of the book. If you nd additional corrections, please inform J. H. Ginsberg at jerry.ginsberg@me.gatech.edu. Thank you.

Pg. 15, eq. (1.2.3):

Pg. 16, eq. (1.2.7):

Pg. 16, eq. (1.2.8):

F = ML/T 2

g = 9. 807 m/s 2

g = 32.17 ft/s 2 or g = 386.0 m/s 2

Pg. 31, third line after eq. (2.1.1):

Pg.

Pg. 43, rst set of equations:

path. Hence, it is one of the path variables.

43, rst line: s 0 (β P )=1.1562. Substitution

¯

e¯ n = 0. 6795i + 0.5141 j + 0. 0058 k ρ = 1.500 m

¯

Pg. 43, second set of equations:

a¯ = 53.88i + 22.79 j + 14.32 k m/s 2

¯

¯

Pg. 49, eq. (4): Fix unknown vector:

00

x

y

1

1 10y 0

9z


x˙

y˙

z˙


=

0. 16t

0

0

Pg. 61, eq. (2.3.24), fourth line: delete the unit vector e¯ r in the second bracket, that is:

= r¨e¯ r + r˙ µ

φ ∂e¯ r θ ∂e¯ r

˙

∂φ

+

˙

∂θ

¶¸ + r˙ φe¯ φ + r φe¯ φ + r φ µ

˙

¨

˙

φ ∂e¯ φ θ ∂e¯ φ

˙

∂φ

+

˙

∂θ

¶¸

Pg. 63, second line from bottom: F = 38.20 N,

Pg. 69, eq. (2.3.50):

= h α α˙ e¯ α +

Pg. 70, eq. (2.3.53): index for the third sum should be μ, that is:

+ X

X

λ=α,β,γ μ=α,β,γ

λμ˙ µ h λ

˙

∂μ

e¯ λ + h λ ∂e¯ λ ∂μ

Pg. 72, sixth equation line from bottom: Delete R :

¯

e¯ θ = sin (θ ) i + cos (θ ) j

Pg. 72, fourth equation line from bottom:

∂e¯ R

∂R

= 1

∂h R

h

θ

∂θ

e¯ θ 1

h

z

∂h R

∂z

e¯ z = 0

Pg. 73, second equation line from top:

∂e¯ z

∂θ

= 1

∂h θ

h

z

∂z

e¯ θ = 0

Pg. 76, Example 2.11, rst line: Change “M” to lower case:

Pg. 88, bottom of page, gure for Exercise 2.45: Label the pivot as A and the upper end of the rotating arm as B.

Pg. 89, Exercise 2.46, second line from bottom:

Pg. 104, rst line after eq. (3.1.29):

Pg. 111, rst equation:

of a mixed kinematical

˙

¨

values of r,˙ r,¨ λ,

λ,

treated [ R x ] and [ R z ] as

(i.e. lower case subscripts)


0.1059 0.1789 0.9782 0.8671 1.4980 0.0028 ¸

Z 0 X

Z 0 Y

Z 0 Z

⎬ ⎫ = ½ 0 0 ¾

Pg. 111, second equation:

0.8671 1.4980 ¸ ½ Z 0 X

0.8941 0.1789

Z 0 Y

¾ = ½

0.9782

0.0028

Z 0 Z ¾

Z 0 Z

Pg. 117, last equation in Example 3.5:

⎧ ⎨ r¯ B

¯

· I

¯

r¯ B · J

¯

r¯ B · K


= [R ]

T

f

0.2010

0.6708


0.3354 =

0.2010

0.3354

0.

6708

m

Pg. 121, second line after eq. (3.3.7):

dened

by Eq. (3.3.7). This

Pg. 124, third equation:

⎧ ⎨ r¯ B

¯

· I

¯

r¯ B · J

¯

r¯ B · K


=

13.42

11.16

0

mm

Pg. 127, last line:

Pg. 138, second equation line from bottom:

general, a specic auxiliary

¯

= h L 2 θ 2 cos θ L 2 θ sin θ (L 1 + L 2 cos θ ) 2 i i + 2L 2 θ sin θ j

˙

¨

˙

Pg. 144, rst equation line: Close space:

v¯ P = v¯ G + (¯v P ) xyz + ω¯ × r¯ P/G

Pg. 146, mid-page, last line of answer for v¯ P :

¯

= R sin φ sin βi + ³ L cos φ sin β + R cos β φR ´ j L sin φ sin β k

˙

¯

Pg. 148, paragraph following Figure 3.12, line 8:

Pg. 148, paragraph following Figure 3.12, line 9:

Pg. 149, second line after eq. (3.6.3):

Pg. 150, second line above eq. (3.6.8):

Pg. 151, paragraph preceding Example 3.15, second line:

the

Pg. 171, Exercise 3.56. The labels A and B were confused. The problem statement should have been: Airplane A travels eastward at constant speed v A = 560 km/hr, while airplane B executes a constant radius turn, ρ = 3.2 km, in the horizontal plane at constant speed v B = 1440 km/hr. At t = 0 the angle θ locating airplane B was zero, and s A at that instant was 5.2 km. Radar equipment on aircraft B can measure

Pg. 179, last full line preceding eq. (4.2.7)

required by Eqs. (3.6.9), then

radius, r e = 6370 km.

rotation is ω r e 0.034 m/s 2

2

e

path is r e cos λ, and

to

approximate sin (λ + β ) sin λ in the

obtained by premultiplication, according

Pg. 189, eq. (4.3.11):

v¯ A = v¯ B + ω¯ AB × r¯ A/B

Pg. 200, eqs. (12): First line is incorrect and lines should be re-aligned:

˙

θ 1 =

˙

˙

φ 2 sin β cos φ 1 ,

˙

φ 1 sin φ 2 sin β = θ 2 ,

˙

φ 1 (cos φ 1 cos φ 2 + sin φ 1 sin φ 2 cos β )

˙

= φ 2 [cos β (cos φ 1 cos φ 2 + sin φ 1 sin φ 2 cos β )

sin β (sin φ 1 sin φ 2 sin β )]

˙

≡− φ 2 (cos β cos φ 1 cos φ 2 + sin φ 1 sin φ 2 ) .

v¯ A = v¯ B + ω¯ AB × r¯ A/B

Pg. 200, answer for ω¯ :

ω¯ =

φ 1

˙

¯

I 1 +

sin β cos β cos φ (sin φ 1 ) 2 + (cos β cos φ 1 ) 2 ¡ cos φ 1

1

¯

¯

J 1 sin φ 1 K

1

¢ ¸

Pg. 206, rst line after eq. (4.4.17): The angular acceleration is given by the second

Pg. 209, rst gure: Swap labels C and D , so that the pin is C.

Pg. 219, Exercise 4.13, fourth line:

Pg. 230, eq. (5.1.8): symbol in second sum should be r¯ j/O , that is:

and when θ = 120 o .

¯

Σ F =

N

X

j

=1

¯

F j =

N

X

j

=1

m

j

2 r¯ j/O = d 2

d

2

dt

dt

2 Ã

N

X

j

=1

m j r¯ j/O !

Pg. 238, rst line of last equation: Delete overbar on ω¯ 1 :

¯

M shaft = d

¯

H C

dt = ω 1

θ £ 2mR 2 ω 2 (sin θ ) (cos θ ) ¯ j 0 + 2mR 2 ω 2 (sin θ ) 2 k 0 ¤

¯

Pg. 241, Figure 5.3, caption:

Pg. 244, rst line above Example 5.2: regardless of its symmetry

Pg. 244, third line of Example 5.2 statement:

Pg. 244, third line of Example 5.2 solution:

Pg. 244, third line from bottom of page: To evaluate H O we recall from

relative

to a moving xyz

to determine

¯

H O .

¯

of change of H O . The two

¯

¯

Pg. 245, rst equation, rst line: H O = [2mR 2 (ω 1 )

¯

Pg. 245, second, rst line: H O = 2mR 2 ω 1 ¯ı 0

Pg. 245, change last sentence of Example 5.2: This is the same as the expression that would have been obtained if Example 5.1 had evaluated the moment of momenta relative to point O, rather than point C.

Pg. 253, rst paragraph, third line:

Pgs 254-255, text between eq. (5.2.10) and eqs. (5.2.14): The following provides a fully vectorized derivation of the parallel axis theorems that is quite useful for software imple- mentation. It also corrects an error in eqs. (5.2.14), where the subscripts in the second term of each equation should have had a prime:

properties of other shapes

¯

r¯ B/G = x B i + y B j + z B k

¯

(5.2.10)

To proceed we invoke an identity for the vector triple product,

a¯ × ¡ ¯ b × c¯ ¢ ¯ b a · c¯) c¯ ¡ a¯ · ¯

b ¢ ,

which changes Eq. (5.1.36) to

¯

H B =

H ¯ G + m £¡ r¯ B/G · r¯ B/G ¢ ω¯ r¯ B/G ¡ r¯ B/G · ω¯ ¢¤

(5.2.11a)

Let the inertia properties with respect to the parallel coordinate systems xyz and x 0 y 0 z be [I G ] and [I B ] , respectively. Then the matrix form of the preceding is

[I B ] {ω } = [I G ] {ω } + m h © r B/G ª T · © r B/G ª [U ] © r B/G ª © r B/G ª T i {ω }

(5.2.11b)

where [U ] is a 3 × 3 identity matrix and © r B/G ª = [x B y B z B ] T . This relation must apply for any {ω } , so the factor of {ω } on each side of the equality must match. The result is the parallel axis transformation of inertia properties,

[ I B ] =[ I G ] + m h © r B/G ª T · © r B/G ª [U ] © r B/G ª © r B/G ª T i

= [ I G ] + m

(y B + z B ) x B y B

2

2

x

x

B y B

B z B

(x 2 B + z B ) y B z B

2

x

y

B z B

B z B

2

(x B 2 + y

B )

(5.2.12)

The rst form is useful for computer applications, while using the second form to match like elements yields the scalar transformations. The diagonal terms govern the moments of inertia,

I x 0 x 0 =

2

I xx + m (y B + z

2

)

B

I y 0 y 0 = I yy + m (x B 2 + z I z 0 z 0 = I zz + m (x B 2 + y

2

B

2

B

)

)

(5.2.13)

while the o-diagonal terms transform the products of inertia,

= I xy + mx B y B

I x 0 y 0 =

I x 0 z 0 = I zx = I xz + mx B z B

I yx

I y 0 z 0 = I zy = I yz

+ my B z B

(5.2.14)

Pg. 264, second line of Example 5.7:

Pg. 268, eq. (5.2.34), subscript for {e 3 } :

parallel to the orthogonal edges and

I 1

0

0

0

0

I 2 0 I 3

0

=

{e

{e

{e

1

2

3

}

}

}

T

T

T

⎤ ⎦ [I ] £ {e 1 } {e 2 } {e 3 } ¤

Pg. 275, eq. (5.3.1): Remove box highlighting the equation.

Pg. 276, eq. (5.3.4): the overdot above the rst occurrence of H A needs to be centered.

¯

Pg. 280, rst equation: the overdot above H A needs to be centered.

¯

Pg. 297, rst paragraph: fth and sixth lines:

of the required moment. The same is true for linear momentum. The

the angular momentum requires application

¯

¯

Pg. 307, top of page: x answers for j and k components of

¯

M A :

¯

¯

Σ mg (L sin θ ) = I yy α y (I zz I xx ) ω x ω z

M A ·

j =

Σ

¯

M A ·

¯

k

m µ 1

=

+m µ 1

4 R 2 + L 2 ¶ ³ θφsin θ ´

¨

˙

4 R 2 L 2 ¶ ³ φ cos θ ´ (sin θ )

˙

= M sin θ + M x 0 cos θ = I zz α z (I xx I yy ) ω x ωy

=

m µ 1

m µ 1

4 R 2 + L 2 ¶ ³ θ + θcos θ ´

´

˙

φ

˙

4 R 2 L 2 ¶ ³ φ cos θ ´ ³ θ ´

˙

˙

Pg. 312, second gure: Insert label G at center and show x axis = horizontal diameter and y axis = vertical diameter:

x' x mg v z' . ψ . y', y φ θ F F n
x'
x
mg
v
z'
.
ψ
.
y', y
φ
θ
F
F
n
z
t
N
ρ

Free body diagram of the rolling disk

Pg. 314, paragraph following rst set of equations, rst line:

Pg. 317, line following second equation:

Pg. 318, rst equation: Change φ to θ in rst line and change sign in third line:

unknown, so the moment

to xyz, so we need to express i in terms

H A = n I xx

.

¯

φ ¨ + £ (I yy I zz ) sin φ cos φ (sin θ ) 2 + I xz sin φ sin θ cos θ ¤ ψ 2 i

˙

˙

˙

φ ¨ + £ (I xx I yy ) sin φ sin θ cos θ I xz sin φ cos φ (sin θ ) 2 ¤ ψ 2

˙

¯

o

+ ©£ (I xx I yy ) cos φ sin θ cos θ + I xz ¡ (cos θ ) 2 (cos φ) 2 (sin θ ) 2 ¢¤ ψ 2

¯

+ [(I xx + I yy I zz ) cos φ sin θ + 2I xz cos θ ] ψ φ + I xz φ 2 o j

+ n I xz

+ [(I xx I yy + I zz ) sin φ sin θ ] ψ φ o k

Pg. 318, last equation:

{mg } = mg [R ]

0

sin ψ

cos ψ


Pg. 320, eq. (6.2.3), second line:

Σ M A · ¯ j = I yz ω˙ I xz ω 2

¯

=

Pg. 325, rst paragraph, second line:

Pg. 329, eqs. (4), third line:

of the box has no obvious

Σ

¯

M G ·

¯

k = F µ L sin θ + N A µ L cos θ

2

2

Pg. 337, eqs. (10), rst line: Insert comma before N 2 to separate equations.

Pg. 339, third paragraph. second line:

Pg. 339, third paragraph. fth to fourth lines preceding eq. (6.4.2): instantly from time

t

Pg. 345, eq. (6.4.16), both path integral symbols should have “C ” rather than “o”:

of such forces are those generated

+

i to time t , while the

i

W 12 = Z

CΣ F · dr¯ B + Z M B ·

1

CΣ

1

2

2

 

¯

¯

Pg. 345, eq. (6.4.17):

W 12 = W 21

Pg. 346, Eq. (6.4.20): Path integral should have “C ” rather than “o”:

2

W 12 = Z C ¡ mg K ¢ · ¡ dX I + dY J + dZ K ¢ =

1

¯

¯

¯

¯

Pg. 347, Eq. (6.4.23), rst line: The path integral should have “C ” rather than “o”, that is:

W 12 = Z 2

C

1

µ

GmM

r

2

e¯ r · (dre¯ r + rdφe¯ φ + rdθ sin φe¯ θ )

Pg. 348, eq. (6.4.34): The path integral should have “C ” rather than “o”, that is

1

2 m ¡ v

2

G ¢ 2 =

1

2 m ¡ v

G ¢ 1 + Z

2

1

2

¯

CΣ F · dr¯ G

Pg. 350, eq. (6.4.39), delete the path integral symbol:

P nc =

N

X

j =1

¯

F

nc

j

¯

¯

· v¯ j = Σ F nc · v¯ B + Σ M

nc

B

· ω¯

Pg. 353, fth line after gure:

Pg. 353, rst line after eq. (1): The angular velocity of these bodies is the sum of the

Pg. 358, fourth equation from top of page, second line: Insert 10 3 factor preceding rad/s:

diagram exert any moment about

= [17. 920321 23.868431 40000] T ¡ 10 3 ¢ rad/s

Pg. 359, fourth line from bottom of page: Delete clause at end of rst sentence:

simultaneously. This is a fundamental

Pg. 362, third paragraph, replace sentence preceding eq. (6.4.44):

because the centers of mass and the contact point lie in the xy plane for planar motion,

in Eqs. (6.4.40). Also,

to change

¯

¯

only the k components of the cross products of the moments of F about points A and B are

required. They are given by

Pg. 362, eq. (6.4.44): Delete condition for equation to apply, that is:

¯

k · ¡ r¯ × Fi ¢ Fr¯ · ¡ ¯ı × k ¢ = Fr¯ · j

¯

¯

Pg. 363, rst line after eq. (6.4.50): In view of Eq. (6.4.42), the velocity

Pg. 365, eq. (6.4.53): Insert unit vector ¯ı after F, that is:

¯

f = μ k Fi

v CA ) 0 · i v CB ) 0 · i

¯ ¯ v CA ) 0 · i v CB ) 0 · i ¯

¯

Pg. 395, last line: “the” is repeated.

Pg. 404, second line preceding Figure 7.6:

Pg. 406, Solution to Example 7.2, fth line:

Pg. 411, rst paragraph after Figure 7.9, fth line:

at the instant

Pg. 420, eq. (7.3.8), rst line: All subscripts “P ” should be capitalized.

Pg. 420, rst paragraph following indented text in italics, fourth line:

There is no v¯ Pt term

Pg. 427, second line after eq. (7.4.6):

Pg. 434, Figure 7.10 (a): Change θ label to φ.

Pg. 438, seventh line after second gure: Delete second i :

f = μ k N sgn ¡ v¯ C · i ¢ . As we

Pg. 443, fourth text line from bottom of page:

Pg. 443, last text line:

Pg. 445, Example 7.12, fourth line of problem statement:

then a 13 g 1 =0= ∂f 1 /∂θ. This

we dene q 1 = X B ,q 2 = Y B ,

is tangent to the constraint surface

˙

+ r θ sin φe¯ θ .

couples allows us to collect

¯

¯

we have f = f i, with

to δW of F proceeds in

(1)

R

j

in Eqs. (7) gives

corresponding to θ being the

Pg. 447, second line after eq. (7.5.3):

delete the dot above q j ).

Pg. 452, midpage, line preceding equation for δW :

partial derivatives ∂r¯ n /∂q j depend

(that is,

θ by δθ , so the virtual work is

Pg. 460, fth line of equation for

d d µ ∂T

˙

θ

at bottom of page: Insert overdot above θ :

˙

+ (m A + m r ) ε (sin θ ) x˙ θ

Pg. 460, second equation line from bottom of page:

∂T

∂θ

= £ (m A + m r ) ε 2 (cos θ sin θ ) + m r sin θ ¤ θ 2 +

˙

Pg. 462, equation for V at midpage:

V

= mgL cos θ

Pg. 462, second equation from bottom of page:

∂V

∂θ

= mgL sin θ

Pg. 462, last equation:

¡ I 2 + mL 2 ¢ ¨ θ¡ I 2 + mL 2 I 1 ¢ sin θ cos θ ³ mgL + I 1 φ ´ sin θ =

ψ ˙ ˙

0

Pg. 465, rst equation rst line: Delete subscript from T

Pg. 465, eq. (7), second line:

+ 1 2 £ I 2 + I 3 + I 1 (sin φ) 2 ¤

0

0

0

θ 2 + 1

˙

2 I

0

1

φ 2

˙

Pg. 466, rst equation:

dt µ ∂T

d

˙

θ

=

dt ½ £ I

d

1 0 ψ (sin θ ) (sin 2φ) ¾

˙

2 + I 3 + I 1 (sin φ) 2 ¤ θ

0

0

0

1 2 I

0

˙

1

2 I

= £ I 2 + I 3 + I 1 (sin φ) 2 ¤ θ

0

0

0

¨

+ [ I 1 (sin 2φ)] ˙ φ˙

[I 1 (sin θ ) (cos 2φ)] ψ ˙ φ ˙

1

2

0

0

θ

1 (sin θ ) (sin 2φ) ¸ ψ

¨

[I 1 (cos θ ) (sin 2φ)] ψ ˙ θ ˙

0

Pg. 468, eq. (7.6.6): Insert 1/2 factor in second line after second equal sign:

∂T 2

∂q˙ s

=

=

1 P
2

1

P

2

j

n

∂q˙ s

1

2 P

j

1

P

n

M sn q˙ n + 1 2 P M js q˙ j =

M

jn

(q˙ j q˙ n ) =

j

P

n

2 P

n

M jn (δ sj q˙ n + q˙ j δ sn )

(M sn + M ns ) q˙ n = P

n

M

sn q˙ n

Pg. 475, gure at top of page: Fix legend: solid line is x, dashed line is x r , dot-dash line is

x A

Pg. 481, Exercise 7.24, last line: (k/m) 1/2 = 20 rad/s,

Pg. 497, sixth line:

Pg. 498, second equation line from bottom: Insert H after g :

˙

on the motion is ψ = 2 ,

µ 1

2 m 1 + m 2 gH sin ψ

Pg. 505, eq. (3):

˙

¯

v¯ C = I + J + Z K

X ¯ Y ˙ ¯

˙

Pg. 505, set of eqations above eqs. (4):

i

= cos θ ¡ cos ψ I + sin ψ J ¢ sin θ K

¯

¯

¯

¯

¯

¯

j

= sin ψ I + cos ψ J

¯

k

= sin θ ¡ cos ψ I + sin ψ ¢ J + cos θ K

¯

¯

¯

Pg. 509, eq. (8.2.3):

d

dt {z } = {G (z i ,t)}

Pg. 516, rst line after eq. (8.2.40): In view of Eq. (8.2.39), the result

Pg. 522, rst full line above eq. (8.2.61):

Pg. 533, eq. 6: Change G to lower case

Pg.

Pg. 534, fourth line above gures:

Pg. 535, second line after gure: puter models that do

Pg. 539, rst equation after eqs. (4):

nonholonomic equations. Thus the

533, last line: {q } = [0 0 0 π/2 0.01 0] T , {q˙ } =

the initial value π/2 0.010.) We also

v¯ B =

d

dt r¯ B/O =

Pg. 563, last equation: First term on right side needs a dx factor:

t

Z

t

0

1

¯

¯

δT dt = μ Z L [(w˙ + vw 0 ) δw ] ¯

¯

0

t=t

t=t

1

0

dx +

Pg. 569, equation for V at bottom of page: Deleted exponent 2 inside integrand on rst line:

Pg. 570, fourth equation line from bottom of page:

μL q¨ n + µ F μv 2

2

L

µ n 2 π 2

2

q n + μv

N

X

j

=1

B

jn q˙ j

Pg. 570, second equation line from bottom of page:

μL

2

q¨ n μv

N

X

k

=1

G nk q˙ k + µ F μv 2

L

µ n 2 π 2

2

q n =

Pg. 575, rst full line above Example 9.3:

done numerically by solving [M ] {q } = {F } at

Pg. 584, eq. (9.2.29), rst line:

L

∂q˙ n

Pg. 585, eq. (9.2.34):

= p n for n = K + 1,

, N yields

d

= Q j , j = 1,

, K

dt µ ∂q˙ j

< <

∂q j

Pg. 586, rst paragraph, third line:

Pg. 586, second paragraph, third line:

Pg. 586, third equation from bottom of page:

so the slope Z 0 dZ/dR, so that

axis and y about the y axis. Therefore,

y =

˙

R

σ cos β

Pg. 587, second equation: Change σ 2 to σR in last term on second line

2T = 5 7 m Ã

+ 2

β ! 2 + m R 2 + σ 2 (cos β ) 2 ¸ θ 2

˙

R

cos

7

5

2

5

5 m (R + σ sin β ) 2 + I ¸ ψ 2 4

5

˙

˙

(R 2 + σR sin β ) θ ˙ ψ ˙

Pg. 592, second line after eq. (9.3.9):

is to be kinematicallly

Pg. 593, rst line:

Pg. 595, rst line:

Pg. 604, eq. (4): a¯ G = a¯ C + ¡ γ¨ 2

must be suitably selected if the virtual displacement

are q 1 = X B ,q 2 = Y B , and

form in Eq. (9.3.9). We

k ¯ ¢ × r¯ G/C γ˙ 2

2 r¯ G/C =

Pg. 607, second paragraph, third line:

on the collar and the spring force. We

Pg. 608, eq. (8), rst line: Insert a prime after j :

other forces of concern are the normal force exerted

¯

α¯ wheel = Ã γ¨ 2

cos θ

β

R cos

+ γ˙ 1 γ˙ 2

˙

β

sin β θ γ˙ 2 cos θ sin β

R cos

R

(cos β ) 2

!

¯

j

0

Pg. 610, rst paragraph, line following second equation on the page:

derivatives of V to generalized forces are

Pg. 610, second paragraph, line following equation for v¯ B :

Pg. 611, line after eq. (10): The second Gibbs-Appell equation, ∂S/∂γ¨ 2 = Γ 2 , is

Pg. 637, third line from top:

Pg. 639, paragraph following eq. (10.1.8), fth line:

same sign as ω. (Cases

Pg. 641, eq. (2):

required to convert

changing each γdt˙ to δγ

a specied motion. In other situations the response

´

is such that θ>β and φ has the

β = tan 1 µ

0 tan θ = 10. 68

I

I

Pg. 642, rst equation:

ω¯ = ω ¡ sin β j cos β k ¢ = ω ¡ 0.18526 j 0. 9827 k ¢

¯

¯

¯

¯

Pg. 643, eq. (10.1.10), rst line:

¯

¯

¯

K

= sin θ cos φi + sin θ sin φ j + cos θ k

Pg. 643, eq. (10.1.11), second line:

¯

+ ³ ψ cos θ + φ ´ k

˙

˙

¯

Pg. 643, eq. (10.1.12), rst and third lines: k components should have cos θ, rather than

cos φ, that is

¯

H G = H G

¯

K

¯

= H G ¡ sin θ cos φi + sin θ sin φ j + cos θ k ¢

¯

= I 1 ³ ψ sin θ cos φ + θ sin φ ´

˙

¯

+I 3 ψ cos θ + φ ´ k

³

˙

˙

˙

˙

¯

i + I 2 ³ ψ sin θ sin φ + θ cos φ ´ j

˙

Pg. 643, equation at bottom of the page:

H G = £ I (ω x ) 0 + I (ω y ) 0 + I (ω z )

1

2

3

2

2

2

2

2

2

0

¤ 1/2

Pg. 644, eq. (10.1.14), third line:

I 3 ³

ψ cos θ + φ ´ = H G cos θ

˙

˙

Pg. 645, rst paragraph, sixth line:

Pg. 645, rst paragraph, seventh line:

equations are identically satised

˙

and φ = H G /I 3 . Thus

Pg. 645, eqs. (10.1.17), third line:

I 3 ε ξ 1 ´ cos θ + ³ + ε ξ 3 ´i = H G cos θ

˙

˙

Pg. 656, second paragraph of Section 10.2, second line: nents A j in orthogonal directions.

Pg. 657, Figure 10.7: Origin of XY Z should be labeled as O.

Pg. 659, third paragraph, sixth line:

equivalently the smallest nutation angle. Similarly,

Pg. 663, eq. (10.2.23):

Pg. 664, rst line after eq. (10.2.29):

Pg. 669, eq. (4), rst line

2u˙ u¨ = du df u˙ =

results is that the precession rate

¯

= Γ sin θ © sin (2t

¯

M

2ψ ) i cos θ [1 + cos (2t 2ψ )] j

Pg. 675, eq. (2), second line:

Pg. 676, eq. (3):

Pg. 676, eq. (4):

g ³ ψ, θ ´ = µ 0 1 ψ 2 sin θ cos θ + µ

˙

I

I

˙

µ

I

I

0

g ³ ψ ´ =

˙

1 ¶ ³ ψ ´ 2 cos θ +

˙

I

I 0

I

I 0

ψ ˙ φ˙ γ

2

ψ ˙ φ˙ γ

2

= 0

sin θ

ª

NOTE: A corrected list of answers is contained in a separate le: Answers List-version

2.pdf.