| Preface | p. xi |
| Introduction | p. 1 |
| What Is Dynamics? | p. 1 |
| Organization of the Book | p. 6 |
| Key Ideas | p. 8 |
| Notes and Further Reading | p. 9 |
| Problems | p. 10 |
| Newtonian Mechanics | p. 11 |
| Newton's Laws | p. 11 |
| A Deeper Look at Newton's Second Law | p. 15 |
| Building Models and the Free-Body Diagram | p. 19 |
| Constraints and Degrees of Freedom | p. 21 |
| A Discussion of Units | p. 24 |
| Tutorials | p. 25 |
| Key Ideas | p. 37 |
| Notes and Further Reading | p. 38 |
| Problems | p. 38 |
| Particle Dynamics in the Plane | |
| Planar Kinematics and Kinetics of a Particle | p. 45 |
| The Simple Pendulum | p. 45 |
| More on Vectors and Reference Frames | p. 47 |
| Velocity and Acceleration in the Inertial Frame | p. 56 |
| Inertial Velocity and Acceleration in a Rotating Frame | p. 66 |
| The Polar Frame and Fictional Forces | p. 79 |
| An Introduction to Relative Motion | p. 83 |
| How to Solve a Dynamics Problem | p. 87 |
| Derivations-Properties of the Vector Derivative | p. 88 |
| Tutorials | p. 93 |
| Key Ideas | p. 100 |
| Notes and Further Reading | p. 101 |
| Problems | p. 102 |
| Linear and Angular Momentum of a Particle | p. 113 |
| Linear Momentum and Linear Impulse | p. 113 |
| Angular Momentum and Angular Impulse | p. 117 |
| Tutorials | p. 131 |
| Key Ideas | p. 141 |
| Notes and Further Reading | p. 142 |
| Problems | p. 143 |
| Energy of a Particle | p. 148 |
| Work and Power | p. 148 |
| Total Work and Kinetic Energy | p. 153 |
| Work Due to an Impulse | p. 158 |
| Conservative Forces and Potential Energy | p. 159 |
| Total Energy | p. 169 |
| Derivations-Conservative Forces and Potential Energy | p. 172 |
| Tutorials | p. 173 |
| Key Ideas | p. 179 |
| Notes and Further Reading | p. 180 |
| Problems | p. 181 |
| Planar Motion of a Multiparticle System | |
| Linear Momentum of a Multiparticle System | p. 189 |
| Linear Momentum of a System of Particles | p. 189 |
| Impacts and Collisions | p. 205 |
| Mass Flow | p. 220 |
| Tutorials | p. 228 |
| Key Ideas | p. 235 |
| Notes and Further Reading | p. 237 |
| Problems | p. 237 |
| Angular Momentum and Energy of a Multiparticle System | p. 245 |
| Angular Momentum of a System of Particles | p. 245 |
| Angular Momentum Separation | p. 252 |
| Total Angular Momentum Relative to an Arbitrary Point | p. 259 |
| Work and Energy of a Multiparticle System | p. 263 |
| Tutorials | p. 274 |
| Key Ideas | p. 285 |
| Notes and Further Reading | p. 287 |
| Problems | p. 288 |
| Relative Motion and Rigid-Body Dynamics in Two Dimensions | |
| Relative Motion in a Rotating Frame | p. 295 |
| Rotational Motion of a Planar Rigid Body | p. 295 |
| Relative Motion in a Rotating Frame | p. 302 |
| Planar Kinetics in a Rotating Frame | p. 311 |
| Tutorials | p. 318 |
| Key Ideas | p. 328 |
| Notes and Further Reading | p. 329 |
| Problems | p. 330 |
| Dynamics of a Planar Rigid Body | p. 337 |
| A Rigid Body Is a Multiparticle System | p. 337 |
| Translation of the Center of Mass-Euler's First Law | p. 340 |
| Rotation about the Center of Mass- Euler's Second Law | p. 343 |
| Rotation about an Arbitrary Body Point | p. 360 |
| Work and Energy of a Rigid Body | p. 368 |
| A Collection of Rigid Bodies and Particles | p. 376 |
| Tutorials | p. 385 |
| Key Ideas | p. 394 |
| Notes and Further Reading | p. 397 |
| Problems | p. 398 |
| Dynamics in Three Dimensions | |
| Particle Kinematics and Kinetics in Three Dimensions | p. 409 |
| Two New Coordinate Systems | p. 409 |
| The Cylindrical and Spherical Reference Frames | p. 413 |
| Linear Momentum, Angular Momentum, and Energy | p. 422 |
| Relative Motion m Three Dimensions | p. 426 |
| Derivations-Euler's Theorem and the Angular Velocity | p. 445 |
| Tutorials | p. 450 |
| Key Ideas | p. 458 |
| Notes and Further Reading | p. 459 |
| Problems | p. 460 |
| Multiparticle and Rigid-Body Dynamics in Three Dimensions | p. 465 |
| Euler's Laws in Three Dimensions | p. 465 |
| Three-Dimensional Rotational Equations of Motion of a Rigid Body | p. 472 |
| The Moment Transport Theorem and the Parallel Axis Theorem in Three Dimensions | p. 495 |
| Dynamics of Multibody Systems in Three Dimensions | p. 502 |
| Rotating the Moment of Inertia Tensor | p. 504 |
| Angular Impulse in Three Dimensions | p. 509 |
| Work and Energy of a Rigid Body in Three Dimensions | p. 510 |
| Tutorials | p. 515 |
| Key Ideas | p. 523 |
| Notes and Further Reading | p. 526 |
| Problems | p. 527 |
| Advanced Topics | |
| Some Important Examples | p. 537 |
| An Introduction to Vibrations and Linear Systems | p. 537 |
| Linearization and the Linearized Dynamics of an Airplane | p. 551 |
| Impacts of Finite-Sized Particles | p. 568 |
| Key Ideas | p. 578 |
| Notes and Further Reading | p. 579 |
| An Introduction to Analytical Mechanics | p. 580 |
| Generalized Coordinates | p. 580 |
| Degrees of Freedom and Constraints | p. 583 |
| Lagrange's Method | p. 589 |
| Kane's Method | p. 605 |
| Key Ideas | p. 618 |
| Notes and Further Reading | p. 619 |
| Appendices | |
| A Brief Review of Calculus | p. 623 |
| Continuous Functions | p. 623 |
| Differentiation | p. 624 |
| Integration | p. 626 |
| Higher Derivatives and the Taylor Series | p. 627 |
| Multivariable Functions and the Gradient | p. 629 |
| The Directional Derivative | p. 632 |
| Differential Volumes and Multiple Integration | p. 633 |
| Vector Algebra and Useful Identities | p. 635 |
| The Vector | p. 635 |
| Vector Magnitude | p. 637 |
| Vector Components | p. 637 |
| Vector Multiplication | p. 638 |
| Differential Equations | p. 645 |
| What Is a Differential Equation? | p. 645 |
| Some Common ODEs and Their Solutions | p. 647 |
| First-Order Form | p. 650 |
| Numerical Integration of an Initial Value Problem | p. 651 |
| Using Matlab to Solve ODEs | p. 657 |
| Moments of Inertia of Selected Bodies | p. 660 |
| Bibliography | p. 663 |
| Index | p. 667 |
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