Module 1   :   Dynamics of Rigid Bodies in Plane Motion; Dynamic Force Analysis of Machines
Lecture 1 :   Dynamics of Rigid Bodies in Plane Motion; Dynamic Force Analysis of  Machines.

Equations of Motion of Mechanisms

 

Let the locations of the points be and . Let be the orientation of link i , defined by the angle made by a line on the link with the global x axis. Let the unit vectors in the direction of sliding of the prismatic joint be and the normal to the surfaces in contact at E be . Let the components of be . We can now write three equations of motion for each of the three moving bodies as follows.

 

(6)
 


(7)
 

(8)
  The equations of motion relate the accelerations to the external forces. The external forces could be applied by springs, dashpots, actuators etc. The various problems which can be solved using equations of motion and how they are solved are discussed in the next lecture.
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