Concepts and formulations for spatial multibody dynamics (Q2018365)

This book treats dynamics of multibody systems. The authors define multibody systems as mechanical systems exercising large translational and rotational displacements and having kinematic joints that impose some constraints on the relative motion of the bodies involved. Euler type angles are explained in detail and Kinematic Constraint Equation are introduced. Finally equations of motion for constraint system are presented with special attention to the forces and force reactions. The authors also present methods used to solve equations as well as demonstrative example. We note that on the page 32 the meanings of Greek words rheo and scleros are interchanged. Also, the term holonomic involves two Greek words meaning whole and law as explained by H. Hertz. The book may be useful to senior undergraduate/beginning graduate students in mechanical engineering and robotics. It is well written and easy to read.