Basic Kinematics

Abstract

In applied dynamics, we draw a distinction between free systems with elements that can move without restrictions and constrained systems , the elements of which are bound to each other or their surroundings by means of bearings. While, for example, satellite dynamics is largely concerned with free systems, machine dynamics deals almost solely with constrained systems. This chapter will provide a summary of the kinematic principles behind mass point systems, multibody systems, and continuous systems. From a kinematic standpoint, finite element systems are considered as continuous systems and will therefore not be treated separately. The kinematics of free and constrained systems will be presented both in a spatially fixed inertial frame as well as in a frame in relative motion.