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	10/ 2	Introduction: Newton mechanics vs analytical mechanics
2nd	10/ 9	Variational Principles: variation and variational principles
3rd	10/14	Variational Principles: variational principle in statics
4th	10/16	Variational Principles: statics under constraints
5th	10/30	Variational Principles: variational principle in dynamics
6th	11/ 6	Rigid Body Rotation: planar rotation
7th	11/13	Rigid Body Rotation: spatial rotation
8th	11/20	Rigid Body Rotation: quaternion
9th	11/27	Link Mechanisms: open link mechanism
10th	12/ 4	Link Mechanisms: closed link mechanism
11th	12/11	Elastic Deformation: elastic potential energy
12th	12/18	Elastic Deformation: finite element method (FEM)
13th	12/25	Elastic Deformatino: dynamic deformation
14th	1/15	Inelastic Deformation: 1D inelastic deformation
15th	1/19	Inelastic Deformation: 2D/3D inelastic deformation

Handouts

	1st Introduction	reduced copy
	2nd-5th Variational Principles	reduced copy
	6th-8th Rigid Bidy Rotation	reduced copy
	9th,10th Link Mechanisms	reduced copy
	11th-13th Elastic Deformation	reduced copy
	14th,15th Inelastic Deformation	reduced copy

Sample programs (MATLAB)

ODE solver	van_der_Pol.m	solve_van_der_Pol.m
ODE solver (time adaptive)	van_der_Pol.m	solve_van_der_Pol_adaptive.m
minimization	Rosenbrock.m	min_Rosenbrock.m

Sample programs (C)

ODE solver		rk.c	rk.h	van_der_Pol.c
	compile :	gcc -o van_der_Pol.out van_der_Pol.c rk.c -lm
	run :	./van_der_Pol.out
	see result :	more van_der_Pol.dat
ODE solver (time adaptive)		rkf.c	rk.h	van_der_Pol_rkf.c
minimization		neldermead.c	mat.c	mat.h	min_Rosenbrock.c
	compile :	gcc -o min_Rosenbrock.out min_Rosenbrock.c neldermead.c mat.c -lm

Evaluation:

Reports. 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
References:	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]