Introductory examples and problems
To motivate the kinds of problems we consider in this book, we use this introductory chapter to present some simple examples for which the problems are fairly easily understood. The short presentation in this chapter is more informal than will be encountered in the remainder of the book. We draw the examples in this chapter from three loosely defined collections of physical systems: aerospace and underwater vehicles, robotic manipulators and multi-body systems, and constrained systems. These examples will give us an opportunity to discuss a variety of topics, and motivate the introduction of appropriate mathematical tools.
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