In this chapter, we study the kinematics, statics and dynamics of isolated rigid bodies, which will find applications in studying the dynamics of multibody systems. With regard to kinematics, morevoer, we study both finite and infinitesimal motions, i.e., motions of a rigid body characterized by both finite and infinitesimal displacements of its points. Hence, we assume a certain level of familiarity with basic point mechanics. Furthermore, we will resort to basic linear algebra and will thus assume that the reader has been exposed to this discipline.
KeywordsMultibody System Nonholonomic System Dissipation Function Holonomic System Generalize Active Force
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