Standard syllabus
Multibody dynamics · Graduate · Engineering
Topics
Kinematics and constraints
- Multibody system topology and graphs
- Absolute and relative coordinates
- Holonomic and nonholonomic constraints
- Constraint equations and Jacobian matrices
- Index-3 DAE structure in multibody models
- Redundant constraint detection and stabilization
- Kinematic loops and closed-chain mechanisms
- Joint types: revolute, prismatic, spherical, universal
- Driver constraints and prescribed motion
- Singular configurations and redundancy resolution
Dynamics formulations
- Newton-Euler equations for bodies
- Lagrange multipliers for constrained dynamics
- Kane's method and Jourdain's principle (survey)
- Mass matrix assembly for multibody systems
- Coriolis and centrifugal force terms
- Energy and momentum conservation checks
- Impact and contact models: penalty and restitution
- Flexible multibody: floating frame of reference
- Modal reduction for flexible bodies
- Numerical integration of stiff multibody DAEs
What each unit includes
Open a unit below for full materials. Typical resources:
- Study guide
- Exam Strategy
- Common Mistakes
- Worksheets
- Word problems
- Mixed Practice
- Multi-Unit Problems
- Review
- Practice test
- Answer key
Study units
Each unit includes a study guide, worksheets, review, practice test, and answer key. One unit is free; subscribe for the full class.
- Kinematics and constraints
Multibody system topology and graphs
Coming soon - Dynamics formulations
Newton-Euler equations for bodies
Coming soon - Software and vehicle dynamics
ADAMS, Simscape Multibody, or RecurDyn labs
Coming soon - Research applications
Biomechanics multibody models of gait
Coming soon
Pricing calculator
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$1,162 · Multibody dynamics · 18 tutoring hrs
Study guides, worksheets, reviews, practice tests, and answer keys for 1 class. 18 tutoring hours (1 hr / week · semester). Bundle discount applied vs buying separately. Pay in full via Zelle.