Index

A Apogee velocity, 108 Coriolis, G., 4, 176

Absolute measurements, 4, 58 Area moments of inertia, 287 Coriolis acceleration, 58, 176
Absolute motion, 17, 47, 154, 159, 168 Associative law, 305 Couple:
Absolute system of units, 7, 59 Astronomical frame of reference, 4, gyroscopic, 251
Acceleration: 57, 112 resultant, 213, 247
absolute, 48, 58, 168, 176 Axes: work of, 205
angular, 150, 151, 230 rotating, 173, 235 Critical frequency, 272
average, 18, 26 translating, 47, 112, 158, 234 Cross or vector product, 93, 150,
constant, 20, 150 173, 306
B Curvature:
Coriolis, 58, 176
Balancing in rotation, 248

AL
cylindrical components of, 42 center of, 33
Base units, 6, 59
function of displacement, 20 radius of, 32, 311
Bodies, interconnected, 121, 190,
function of time, 20 Curvilinear motion:
213, 219

RI
function of velocity, 20 in cylindrical coordinates, 42
Body, rigid, 5, 119, 148, 184, 227
graphical determination of, 19 in normal and tangential coordinates,
Body centrode, 166
due to gravity, 8, 9, 59 32, 67

TE
Body cone, 230, 256
instantaneous, 18, 26 of a particle, 25, 42, 67
normal components of, 33 C in polar coordinates, 37, 67
polar components of, 38 Cajori, F., 4 in rectangular coordinates, 28, 42, 67
rectangular components of, 28, 42
relative to rotating axes, 175, 235
relative to translating axes, 48, 112,
168, 234
Center:
of curvature, 33MA
of mass, motion of, 121
of percussion, 196
in spherical coordinates, 43
Curvilinear translation, 148, 192,
193, 227
D
D
spherical components of, 43 Central-force motion, 105
tangential component of, 33 Centrifugal force, 113 D’Alembert, J., 4, 113
D’Alembert’s principle, 112
TE

vector representation of, 26 Centrode, body and space, 166

from work-energy principle, 213 Centroids, table of, 319 Damped forced vibration, 272
Acceleration-displacement diagram, 19 Circular frequency, natural, 263 Damped free vibration, 264
Damping:
GH

Acceleration-time diagram, 19 Circular motion, 34, 39

Accelerometer, 275 Coefficient: coefficient, 264
Action and reaction, principle of, 6 of friction, 317 critical, 265
Active-force diagram, 77, 185, 207 of restitution, 100, 221 ratio, 264
viscous or fluid, 264
RI

Addition of vectors, 5, 305 of viscous damping, 264

Amplitude ratio, 272, 273 Commutative law, 305, 306 Dashpot, 264
Amplitude of vibration, 263 Complementary solution, 271 Degrees of freedom, 51, 61, 261
PY

Angular acceleration, 150, 151, 230 Cone, body and space, 230, 256 Densities, table of, 317
Angular displacement, 149 Conservation: Derivative:
Angular impulse, 94, 218 of energy, 83, 126, 282 table of, 308
CO

Angular momentum: of momentum, 89, 96, 100, 105, 127, transformation of, 175, 235
applied to fluid streams, 133 220, 255 of a vector, 26, 307
conservation of, 96, 105, 127, 220 Conservative force, 84 Descartes, R., 17
of a particle, 93, 114 Conservative system, 127, 208, 282 Diagram:
relative, 114, 125 Constant of gravitation, 8, 318 acceleration-displacement, 19
of a rigid body, 186, 218, 240 Constrained motion, 17, 51, 61, acceleration-time, 19
of a system, 123 190, 199 active-force, 77, 185, 207
units of, 93 Constraint, equations of, 51, 214 displacement-time, 19
vector representation of, 93 Coordinates: force-displacement, 72, 73
Angular motion: cartesian, 17 force-time, 89
of a line, 149 choice of, 17, 27, 47, 54, 61, 289 free-body, 12, 62, 186, 207, 261
vector representation of, 151, cylindrical, 42 impulse-momentum, 88, 218
227, 228 normal and tangential, 32 kinetic, 186, 188, 189, 191, 192, 193,
Angular velocity, 149, 150, 151, polar, 37 196, 199
227, 230 rectangular, 27, 42 velocity-displacement, 19
absolute, 160, 168 rotating, 173, 235 velocity-time, 19
of the earth, 58, 318 spherical, 43 Dimensions, homogeneity of, 10
vector representation of, 150, transformation of, 44, 55 Direction cosines, 305
229, 230 translating, 47, 112, 158, 234 Discrete or lumped-parameter model, 260
I-2 Index

Displacement: units of, 6 elastic, 101

angular, 149 work of, 71, 205 energy loss in, 101
in curvilinear motion, 25 Force-displacement diagram, 72, 73 inelastic or plastic, 101
graphical determination of, 19 Forced vibration, 270, 278 oblique, 101
linear, 17 damped, 272 Impulse:
virtual, 214 equation for, 271 angular, 94, 218
Displacement meter, 274 frequency ratio for, 272 linear, 88, 217
Displacement-time diagram, 19 magnification factor for, 272, 273 Impulse-momentum diagram, 88, 218
Distance, 25 resonant frequency of, 272 Impulse-momentum equation, 88, 94,
Distributed-parameter system, 260 steady-state, 272, 273 114, 217, 218, 219
Distributive law, 306 undamped, 271 Inertia, 5, 57
Dot or scalar product, 71, 72, 75, Force field, conservative, 84 area moments of, see Moments of
77, 306 Force-time diagram, 89 inertia of area
Dynamical energy, conservation of, Forcing functions, 270 mass moments of, see Moments of
83, 126 Formulation of problems, 11 inertia of mass
Dynamic balance in rotation, 248 Frame of reference, 6, 47, 112, 113, principal axes of, 242, 297
Dynamic equilibrium, 113 173, 234, 235 products of, 241, 296
Dynamics, 3 Free-body diagram, 12, 62, 186, 207, 261 Inertia force, 113
Freedom, degrees of, 51, 61, 261 Inertial system, 4, 47, 48, 57, 58
E Free vibration: Inertia tensor or matrix, 242, 297
Earth, angular velocity of, 58, 318 damped, 264 Instantaneous axis of rotation, 165, 229
Earth satellites, equations of motion energy solution for, 282 Instantaneous center of zero
for, 105 equations for, 261, 264 velocity, 165
Efficiency, 77 undamped, 261 Integrals, table of selected, 309
Einstein, A., 4, 58 vector representation of, 263 Integration, numerical techniques for,
Elastic impact, 101 Frequency: 314, 315
Elastic potential energy, 82, 207 critical, 272 of vectors, 307
Electric circuit analogy, 275 damped, 266 Interconnected bodies, 121, 190,
Energy: natural and circular, 263 213, 219
conservation of, 83, 126, 282 Frequency ratio, 272 International Gravity Formula, 9
kinetic, 76, 121, 206, 243 Friction: International System of units, 6
potential, 81, 207, 282 coefficients of, 317
in satellite motion, 107 work of, 207 J
in vibration, 282 Joule (unit), 72
Equations of constraint, 51, 214 G
Equations of motion: Galileo, 3 K
for fixed-axis rotation, 196 Gradient, 84 Kepler, J., 105
for particles, 63, 67 Graphical representation, 13, 19, 72, Kepler’s laws of motion, 105, 107
for plane motion, 187, 199 150, 160, 169, 263 Kilogram, 6, 7, 59
in polar coordinates, 67 Gravitation: Kinematics, 3, 16, 147, 227
for rectilinear and curvilinear constant of, 8, 318 of angular motion, 150, 227
translation, 192 law of, 7 of curvilinear motion, 25
for a rigid body, 186, 246 Gravitational force, 7, 10, 59 of rectilinear motion, 17
for rotation about a point, 228 Gravitational potential energy, 81, 207 of relative motion, 17, 47, 112, 158,
for a system of particles, 121 Gravitational system of units, 7, 59 168, 173, 234
Equilibrium, dynamic, 113 Gravity: of rigid bodies, 147, 227
Euler, L., 4, 247 acceleration due to, 8, 9, 59 Kinetic diagram, 186, 188, 189, 191,
Euler’s equations, 247 International Formula for, 9 192, 193, 196, 199
Gyration, radius of, 289 Kinetic energy:
F Gyroscope, 250 of a particle, 76
Fluid damping, 264 Gyroscopic couple, 251 of plane motion, 206
Fluid streams, momentum equations Gyroscopic motion, equation of, 251 of rotation, 206, 243
for, 133, 134 of space motion, 244
H
Foot, 6 of a system of particles, 122, 243
Harmonic motion, simple, 23, 262
Force: of translation, 206
Hertz (unit), 263
centrifugal, 113 units of, 76
Hodograph, 27
concept of, 5 Kinetic friction, coefficient of, 317
Horsepower, 77
conservative, 84 Kinetics, 3, 16, 56, 119, 184, 240
Huygens, C., 4
external, 120, 121 of particles, 56
inertia, 113 I of rigid bodies, in plane motion,
internal, 120 Imbalance, rotational, 248 184, 248
gravitational, 7, 10, 59 Impact, 99, 220 in rotation, 196, 240
resultant, 6, 62, 75, 87, 120, 186, classical theory of, 101 in space motion, 240
213, 247 direct central, 99 Kinetic system of units, 59
 Index I-3

L table of, 321 Particles, 5, 16

Lagrange, J. L., 4 transfer of axes for, 290 curvilinear motion of, 25, 42, 67
Lagrange’s equations, 191 Momentum: equations of motion of, 63, 67
Laplace, P., 4 angular, 93, 114, 123, 133, 218, 240 kinematics of, 16
Law: conservation of, 89, 96, 100, 105, 127, kinetics of, 56
associative, 305 220, 255 motion of system of, 119
commutative, 305, 306 equations for mass flow, 133, 134 Particle vibration, 261
of conservation of dynamical energy, linear, 87, 123, 217 Particular solution, 271, 272
83, 127, 283 moment of, 93 Path variables, 17, 32
distributive, 306 rate of change of, 6, 87, 93, 123, 124, Percussion, center of, 196
of gravitation, 7 125, 126, 217, 218, 219, 246 Perigee velocity, 108
Laws of motion: vector representation of, 87, 93, 217, Period:
Kepler’s, 105, 107 218, 242 of orbital motion, 107, 110
Newton’s, 5, 56, 112, 120, 217 Motion: of vibration, 263, 266
Light, speed of, 4, 59 absolute, 17, 47, 154, 159, 168 Phase angle, 273
Line, angular motion of, 149 angular, 149, 150, 227, 228, 230, 231 Plane motion, 17, 25, 148, 184, 199
Linear displacement, 17 central-force, 105 curvilinear, 25
Linear impulse, 88, 217 circular, 34, 39 equations of motion for, 187, 199
Linear momentum: constrained, 17, 51, 61, 190, 199 general, 148, 199
applied to fluid streams, 133 curvilinear, 25, 42, 67 kinematics of, 25, 47, 148
conservation of, 89, 100, 127, 220 in cylindrical coordinates, 42 kinetic energy of, 206
moment of, 93 general space, 234 kinetics of, 184, 248
of a particle, 87 graphical representation of, 13, 19, Planetary motion:
relative, 114 72, 150, 160, 169, 263 Kepler’s laws of, 105, 107
of a rigid body, 217 period of, 107
gyroscopic, 250
of a system, 123 Poinsot, L., 4
of mass center, 121
Logarithmic decrement, 267 Polar moment of inertia, 291
Newton’s laws of, 5, 56, 112, 120, 217
Lumped-parameter or discrete Position vector, 25
in normal and tangential
model, 260 Potential energy, 81, 207, 282
coordinates, 32
Potential function, 84
M parallel-plane, 228, 248
Pound force, 6, 7, 59, 60
Magnification factor, 272, 273 plane, 17, 25, 148, 184, 199
Pound mass, 7, 59, 60
Mass, 5, 56 planetary and satellite, 105
Power, 77, 208
steady flow of, 132 in polar coordinates, 37
Precession:
unit of, 6, 7, 59 in rectangular coordinates, 27, 42
defined, 230, 250
variable, 138 rectilinear, 17, 62
direct and retrograde, 256
Mass center, motion of, 121 relative, 17, 47, 112, 158, 168, 173, 234 steady, 250, 252, 254, 255
Mass flow, equations of motion for, rotational, 149, 196, 227, 228 velocity of, 250
133, 134 simple harmonic, 23, 262 with zero moment, 255
Mass moments of inertia, see Moments in spherical coordinates, 43 Primary inertial system, 4, 47, 57
of inertia of mass of a system of particles, 119 Principal axes of inertia, 242, 297
Mathematical model, 11 unconstrained, 17, 61, 199 Principia, 4
Mathematics, selected topics in, 302
N Principle:
Matrix, inertia, 242, 297
Natural frequency, 263 of action and reaction, 6
Measurements:
Newton, Isaac, 4 of conservation of momentum, 89, 96,
absolute, 4, 58
Newton (unit), 6 100, 105, 127, 220, 255
relative, 47, 112, 114, 158, 168, 173, 234
Newtonian frame of reference, 114, D’Alembert’s, 112
Mechanics, 3
120, 124 of motion of mass center, 121
Meter, 6
Newtonian mechanics, 58, 120 Products of inertia, 241, 296
Metric units, 6, 59
Newton’s laws, 5, 56, 112, 120, 217 Products of vectors, 71, 93, 306
Moment center, choice of, 189, 193, 199
Newton’s method, 312 Projectile motion, 28
Moment equation of motion, 94, 124,
Notation for vectors, 5, 26, 305 Propulsion, rocket, 140
125, 126, 187, 189, 246
Moment of linear momentum, 93 Numerical integration, 314, 315 R
Moments of inertia of area, 287, Nutation, 252 Radius:
291, 319 of curvature, 32, 311
O
Moments of inertia of mass, 187, of gyration, 289
Oblique central impact, 101
240, 288 Rectilinear motion of a particle, 17, 62
Orbit, elliptical, 106
choice of element of integration Rectilinear translation, 148, 192, 227
Osculating plane, 17
for, 289 Reference frame, 6, 47, 112, 113, 173,
for composite bodies, 291 P 234, 235
about any prescribed axis, 296 Parallel-axis theorems, for mass Relative acceleration, rotating axes,
principal axes for, 242, 297 moments of inertia, 290 175, 235
radius of gyration for, 289 Parallel-plane motion, 228, 248 translating axes, 48, 112, 168, 234
I-4 Index

Relative angular momentum, 114, 125 Steady-state vibration, 272, 273 integration of, 307
Relative linear momentum, 114 Subtraction of vectors, 305 notation for, 5, 26, 305
Relative motion, 17, 42, 112, 158, 168, System: subtraction of, 307
173, 234 conservative, 127, 208, 282 triple scalar product of, 307
Relative velocity: of interconnected bodies, 121, 190, triple vector product of, 307
rotating axes, 173, 235 213, 219 unit, 28, 32, 37, 42, 305
translating axes, 48, 158, 234 of particles: Velocity:
Relativity, theory of, 59 angular momentum of, 123 absolute, 47
Resonance, 272 equation of motion for, 121 angular, 149, 150, 151, 227, 230
Restitution, coefficient of, 100, 221 kinetic energy of, 122, 243 average, 18, 25
Resultant: linear momentum of, 123 cylindrical components of, 43
couple, 213, 247 of units, 6, 59 defined, 18, 26
force, 6, 62, 75, 87, 120, 186, 213, 247 graphical determination of, 19
T
Right-hand rule, 93, 306 instantaneous, 18, 26
Table:
Rigid bodies: instantaneous axis or center of, 165
of area moments of inertia, 319
kinematics of, 147, 227 in planetary motion, 108
of centroids, 319
kinetics of, 184, 248 polar components of, 37
of coefficients of friction, 317
Rigid body, 5, 119, 148, 184, 227 rectangular components of, 28, 42
of densities, 317
Rigid-body motion, general moment relative to rotating axes, 174, 234
of derivatives, 308
equations for, 186, 188, 189 relative to translating axes, 48, 158
of integrals, 309
Rigid-body vibration, 278 spherical components of, 43
of mass centers, 321
Rocket propulsion, 140 tangential component of, 32
of mass moments of inertia, 321
Rotating axes, 173, 235 vector representation of, 26
of mathematical relations, 302
Rotation: Velocity-displacement diagram, 19
of solar-system constants, 318
equations of motion for, 189, 196 Velocity-time diagram, 19
of units, 6, 7
finite, 228 Vibration:
Tensor, inertia, 242, 297
fixed-axis, 148, 150, 196, 227 amplitude of, 263
Theory of relativity, 59
fixed-point, 228 damped, 264
Thrust, rocket, 140
infinitesimal, 229 energy in, 282
Time, 5, 6, 59
instantaneous axis of, 165, 229 forced, 270, 278
Time derivative, transformation of,
kinematics of, 149, 150, 230 free, 261
175, 235
kinetic energy of, 206, 243 frequency of, 263, 266
Transfer of axes:
of a line, 149 over- and underdamped, 265
for moments of inertia, 290
of a rigid body, 148, 196, 227, 228 period of, 263, 266
for products of inertia, 296
Rotational imbalance, 248 reduction of, 273
Transformation of derivative, 175, 235
simple harmonic, 262
S Transient solution, 272, 273
steady-state, 272, 273
Satellite, motion of, 105 Translating axes, 47, 112, 158, 234
transient, 272, 273
Scalar, 5 Translation, rectilinear and curvilinear,
work-energy solution for, 282
Scalar or dot product, 71, 72, 75, 306 148, 192, 227
Virtual displacement, 214
Second, 6 Triple scalar product, 243, 307
Virtual work, 71, 214
Series, selected expansions, 308 Triple vector product, 307
Viscous damping coefficient, 264
Simple harmonic motion, 23, 262 Two-body problem:
SI units, 6, 7 perturbed, 109 W
Slug, 6, 7, 59, 60 restricted, 110 Watt, 77
Solar system constants, 318 Weight, 7, 8, 10, 59
U
Solution, method of, 11 Work, 71, 205
Unconstrained motion, 17, 61, 199
Space, 4 of a constant force, 72
Units, 6, 59
Space centrode, 166 of a couple, 205
kinetic system of, 59
Space cone, 230, 256 an exact differential, 84
Unit vectors, 28, 32, 37
Space motion, general, 234 examples of, 72
derivative of, 32, 37, 173, 235
Speed, 26 of a force, 71, 205
U.S. customary units, 6, 7, 59
Spin axis, 250 of friction, 207
Spin velocity, 250 V graphical representation of, 72
Spring: Variable mass, force equation of, 138 of a spring force, 73
constant or stiffness of, 73, 261, 282 Vectors, 5, 305 units of, 72
potential energy of, 82 addition of, 5, 305 virtual, 71, 214
work done by, 73 cross or vector product of, 93, 150, of weight, 74
Standard conditions, 9, 59 173, 306 Work-energy equation, 76, 82, 114, 122,
Static friction, coefficient of, 317 derivative of, 26, 307 207, 247
Steady mass flow, force and moment dot or scalar product of, 71, 72, 75,
equations for, 133, 134 77, 306