Analytical Dynamics

ANALYTICAL

DYNAMICS

Haim Baruh Rutgers University

L WCB _r i!i$ McGraw-Hill Boston Burr Ridge, IL Dubuque, IA Madison, WI New York San Francisco St. Louis Bangkok Bogoti Caracas Lisbon London Madrid Mexico City Milan New Delhi Seoul Singapore Sydney Taipei Toronto

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ANALYTICAL DYNAMICS International Editions 1 9 9 9

Exclusive rights by McGraw-Hill Book Co - Singapore, for manufacture and export. This book cannot be re-exported from the country to which it is consigned by McGraw-Hill. Copyright 0 1999 by The McGraw-Hill Companies, Inc. All rights reserved. Except as permitted under the United States Copyright Act of 1976, no part of this publication may be reproduced or distributed in any form or by any means, or stored in a data base or retrieval system, without the prior written permission of the publisher.

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Cataloging-in-Publication

Baruh, Haim. Analytical dynamics / Haim Baruh. p. cm. Includes bibliographical references and index. ISBN 0-07-365977-O 1. Dynamics. I. Title. QA845.B38 1999 531’.11-dc21 www.mhhe.com

When ordering this title, use ISBN O-07-116694-9 Printed in Singapore

Data

98-34940

Dedicated in memory of my dear mother, Ester Baruh,

TY’Y

718

INDEX

Virtual displacements, 230,699 analytical approach, 232 kinematical approach, 232 Virtual work, 233 constraint force, 233 independent quasi-velocities, 512

W Warping function, 598 Weighted residual, 628 Whirling, 662 Wobbling motion, 552

Work . done by a conservative force, 48 done by a constraint force, 223 done by a nonconservative force, 49 incremental, 43 virtual, 230,233,457 Work-energy theorem, 43, 163,455

Y Yaw rate, 375 Yu, L., 654