Outline
ME 2201: Kinematics and Dynamics of Machinery
August-November 2023
Manoj Pandey
Force Analysis
Manoj Pandey KDOM 1 / 11
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Dynamics Equations
Linear Momentum Balance:
ΣFi = maG
Angular Momentum Balance :
ΣMi + ΣriG × Fi = IG α
D’Alembert’s principle
ΣFi − maG = 0
ΣMi + ΣriG × Fi − IG α = 0
Manoj Pandey KDOM 2 / 11
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Dynamics Equations
Linear Momentum Balance:
ΣFi = maG
Angular Momentum Balance :
ΣMi + ΣriG × Fi = IG α
Angular Momentum Balance
about any point
ΣMi + ΣriO × Fi =
IG α + rGO × maG
Manoj Pandey KDOM 3 / 11
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Inverse Dynamics Approach
Position, velocity, acceleration of any point in the mechanism is
available.
Manoj Pandey KDOM 4 / 11
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Inverse Dynamics Approach
Position, velocity, acceleration of any point in the mechanism is
available.
Determining the kinematics only required the kinematic
dimensions.
Manoj Pandey KDOM 4 / 11
Outline
Inverse Dynamics Approach
Position, velocity, acceleration of any point in the mechanism is
available.
Determining the kinematics only required the kinematic
dimensions.
Determining the dynamics would require inertia properties.
Manoj Pandey KDOM 4 / 11
Outline
Inverse Dynamics Approach
Position, velocity, acceleration of any point in the mechanism is
available.
Determining the kinematics only required the kinematic
dimensions.
Determining the dynamics would require inertia properties.
From geometry of every subpart, determine the mass, center of
mass location and Moment of inertia about COM.
Manoj Pandey KDOM 4 / 11
Outline
Inverse Dynamics Approach
Position, velocity, acceleration of any point in the mechanism is
available.
Determining the kinematics only required the kinematic
dimensions.
Determining the dynamics would require inertia properties.
From geometry of every subpart, determine the mass, center of
mass location and Moment of inertia about COM.
Formulate the equation of motion of each part including the
applied and reaction forces through the joints.
Manoj Pandey KDOM 4 / 11
Outline
Inverse Dynamics Approach
Position, velocity, acceleration of any point in the mechanism is
available.
Determining the kinematics only required the kinematic
dimensions.
Determining the dynamics would require inertia properties.
From geometry of every subpart, determine the mass, center of
mass location and Moment of inertia about COM.
Formulate the equation of motion of each part including the
applied and reaction forces through the joints.
Determine the applied force/moments required to produce the
kinematics.
Manoj Pandey KDOM 4 / 11
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Loop closure Convention
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Free Body Diagrams
Manoj Pandey KDOM 6 / 11
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Dynamic Equations for Each Link
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Assembly
{F } + [Q]{P} = {H}
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Matrix Q
{F } + [Q]{P} = {H}
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Free Body Diagrams
Manoj Pandey KDOM 10 / 11
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Matrix H Expanded
{H} = {U} + [λ]{θ̈} =
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