## 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

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]