Dynamics and Control I
By Prof. Nicholas Makris, Prof. Peter So, Prof. Sanjay Sarma, Dr. Yahya Modarres-Sadeghi
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This class is an introduction to the dynamics and vibrations of lumped-parameter models of mechanical systems. Topics include kinematics; force-momentum formulation for systems of particles and rigid bodies in planar motion; work-energy concepts; virtual displacements and virtual work; Lagrange's equations for systems of particles and rigid bodies in planar motion; linearization of equations of motion; linear stability analysis of mechanical systems; free and forced vibration of linear multi-degree of freedom models of mechanical systems; and matrix eigenvalue problems. The class includes an introduction to numerical methods and using MATLAB® to solve dynamics and vibrations problems. This version of the class stresses kinematics and builds around a strict but powerful approach to kinematic formulation which is different from the approach presented in Spring 2007. Our notation was adapted from that of Professor Kane of Stanford University.
|1||VideoLecture 1: Course information; Begin kinematics||Course information; Begin kinematics: frames of reference and frame notation||3/20/2014||Free||View in iTunes|
|2||VideoLecture 2: The "spider on a Frisbee" problem||The "spider on a Frisbee" problem; Kinematics using first principles: "downconvert" to ground frame||3/20/2014||Free||View in iTunes|
|3||VideoLecture 3: Pulley problem, angular velocity, magic formula||Pulley problem, angular velocity, magic formula||3/20/2014||Free||View in iTunes|
|4||VideoLecture 4: Magic and super-magic formulae||Magic and super-magic formulae||3/20/2014||Free||View in iTunes|
|5||VideoLecture 5: Super-magic formula, degrees of freedom, non-standard coordinates, kinematic constraints||Super-magic formula, degrees of freedom, non-standard coordinates, kinematic constraints; Note: video is not available for Lecture 6.||3/20/2014||Free||View in iTunes|
|6||VideoLecture 7: Impulse, skier separation problem||Impulse, skier separation problem; Note: video is not available for Lecture 6.||3/20/2014||Free||View in iTunes|
|7||VideoLecture 8: Single particle; Two particles||Single particle: angular momentum, example problem; Two particles: dumbbell problem, torque||3/20/2014||Free||View in iTunes|
|8||VideoLecture 9: Dumbbell problem, multiple particle systems, rigid bodies, derivation of torque = I*alpha||Dumbbell problem, multiple particle systems, rigid bodies, derivation of torque = I*alpha||3/20/2014||Free||View in iTunes|
|9||VideoLecture 10: Three cases, rolling disc problem||Three cases, rolling disc problem||3/20/2014||Free||View in iTunes|
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- © http://ocw.mit.edu; Creative Commons Attribution-NonCommercial-ShareAlike 3.0; http://ocw.mit.edu/terms; Frisbee photo courtesy of Crys Mascarenas; spider photo courtesy of B. Smith. Collage by MIT OpenCourseWare.