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This book is ideal for teaching students in engineering or physics
the skills necessary to analyze motions of complex mechanical
systems such as spacecraft, robotic manipulators, and articulated
scientific instruments. Kane's method, which emerged recently,
reduces the labor needed to derive equations of motion and leads to
equations that are simpler and more readily solved by computer, in
comparison to earlier, classical approaches. Moreover, the method
is highly systematic and thus easy to teach. This book is a
revision of Dynamics: Theory and Applications (1985), by T. R. Kane
and D. A. Levinson, and presents the method for forming equations
of motion by constructing generalized active forces and generalized
inertia forces. Important additional topics include approaches for
dealing with finite rotation, an updated treatment of constraint
forces and constraint torques, an extension of Kane's method to
deal with a broader class of nonholonomic constraint equations, and
other recent advances.
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