## Analytical Mechanics

I will teach basics and applications of analytical mechanics emphasizing variation principle of statics, variation principle of dynamics, and method of variation. These issues will be applied to mechanics of rigid body systems and vibration, which are important topics in mechatoronics.

 1st 9/27 Introduction: Newton mechanics vs analytical mechanics 2nd 10/4 Variational Principles: variational principle in statics, variational principle in dynamics 3rd 10/18 Variational Principles: principle of virtual works, Hamilton's principle 4th 10/20 Variational Principles: numerical method for ODEs, constraint stabilization method (CSM) 5th 10/25 Motion of Mass: Lagrange equation of motion, cylindrical and spherical coordinate systems 6th 11/1 Link Mechanisms: planar open link mechanism, planar closed link mechanism 7th 11/8 Rigid Body Rotation: planar rotation, object coordinate system, inertia of moment 8th 11/15 Rigid Body Rotation: spatial rotation, rotation matrix, angular velocity vector, quaternions 9th 11/22 Rigid Body Rotation: equation of rotation, forced rotation 10th 11/29 Elastic Deformation: elastic potential energy, finite element method (FEM) 11th 12/6 Elastic Deformation: kinetic energy, dynamic equation of deformation 12th 12/13 Elastic Deformatino: 2D/3D elastic deformation 13th 12/20 Elastic Deformatino: Green strain 14th 1/10 Inelastic Deformation: 1D inelastic deformation 15th 1/17 Inelastic Deformation: 2D/3D inelastic deformation

Handouts
 1st    Introduction (updated 2012/9/26) reduced copy 2nd-4th    Variational Principles (updated 2012/9/26) reduced copy            detailed explanation 5th    Motoin of Mass (updated 2012/10/4) reduced copy 6th-8th    Rigid Bidy Rotation (updated 2012/10/4) reduced copy            detailed explanation 9th    Link Mechanisms (updated 2012/11/8) reduced copy 10th,11th    Elastic Deformation (updated 2012/11/6) reduced copy 12th,13th    Inelastic Deformation (updated 2012/11/6) reduced copy            detailed explanation 14th,15th    Extension of FEM (updated 2013/1/7) reduced copy

Evaluation
Reports and Examination. You will pass the examination when your total score exceeds 60 points.
Textbook
No textbook is specified. You are recommended to read the reference books below.
Reference Books
Analytical Dynamics : A New Approach     Robert E. Kalaba     Cambridge University Press
Analytical Dynamics     Haim Baruh     McGraw-Hill Higher Education

You are requested to study Newton mechanics (classical mechanics). In addition, you should complete differential and integral calculus.

[Education]