Planar Dynamics of Rigid Bodies
This chapter examines the dynamics of rigid bodies in planar motion and the forces/moments that act upon them. It will be shown how the equations of motion can be generated using a classical Newton-Euler approach as well as with Lagrange’s equations. The augmented approach considered for single particles and systems of particles is also discussed. The matrix-vector kinematics developed in Chap. 4 is used throughout this chapter and the emphasis is on obtaining complete numerical solutions.