《机械系统动力学3.pptxVIP

Force and torque balanceDegree of freedom and generalized coordinatesDOF: the number of independent coordinates needed to completely specify the configuration of the system.A bar moving in a planeGeneralized Coordinates:The variables that we select to locate the current position of a systemConstraintsIndependent coordinatesUnconstrained generalized coordinatesThe number of degrees of freedom = the number of generalized coordinates minus the number of constraint equationsForce and torque balanceForce and torque balanceTwisting motion: k is the torsional stiffness of shaft, the mass of the shaf