MATH13181 Advanced Dynamics

This course introduces the principles of kinematics and dynamics of physical systems. Topics include: Coordinate systems; Kinematics and Dynamics of particles and rigid bodies, Newton?s Laws, Linear momentum, Angular Momentum, Work - Energy, Impulse - Momentum, Central Force Field motion; Moments of Inertia, Principal Axes, System of constrained rigid Bodies; Lagrangian Dynamics, Generalised coordinates, Degrees of freedom, Principle of virtual work, Hamilton?s principle, Lagrange?s equations, Canonical equations. Particular application where possible will be made to robotic systems.