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2 results

  • 3 - Mass Distribution

  • Joaquim A. Batlle, Universitat Politècnica de Catalunya, Barcelona, Ana Barjau Condomines, Universitat Politècnica de Catalunya, Barcelona
  • Book:
    Rigid Body Dynamics
    Published online:
    21 March 2022
    Print publication:
    14 April 2022, pp 151-201

  • Summary

    Introduction of all concepts related to the mass distribution of the system (center of mass and inertia tensor about a point) needed to apply the vector theorems that solve the dynamics of a rigid body. A few theorems that help calculate those elements (Pappus–Guldon theorems, Steiner's theorem) are presented. The qualitative assessment of the inertia tensor from the mass distribution geometry is discussed and illustrated through several examples. Principal directions of inertia (or of rotation) are introduced, and symmetrical and spherical rotors are defined. The inertia ellipsoid (a tool to visualize the inertia tensor) is presented in the last section.

Rigid Body Dynamics
  • Joaquim A. Batlle, Ana Barjau Condomines
  • Published online:
    21 March 2022
    Print publication:
    14 April 2022
  • Building up from first principles and simple scenarios, this comprehensive introduction to rigid body dynamics gradually introduces readers to tools to address involved real-world problems, and cutting-edge research topics. Using a unique blend of conceptual, theoretical and practical approaches, concepts are developed and rigorously applied to practical examples in a consistent and understandable way. It includes discussion of real-world applications including robotics and vehicle dynamics, and over 40 thought-provoking fully worked examples to cement readers' understanding. Providing a wealth of resources allowing readers to confidently self-assess – including over 100 problems with solutions, over 400 high quality multiple choice questions, and end-of-chapter puzzles dealing with everyday situations – this is an ideal companion for undergraduate students in aerospace, civil and mechanical engineering.