Dynamics of Mechanical Systems
A Modern Introduction to Three-Dimensional Rigid Body Dynamics
Will be published approx. on 4. December 2025
Book
Hardback
236 pages
978-1-009-60933-3 (ISBN)
Description
Written by experts in the field, this text provides a modern introduction to three-dimensional dynamics for multibody systems. It covers rotation matrices, the twist-wrench formalism for multibody dynamics and Lagrangian dynamics, an approach that is often overlooked at the undergraduate level. The only prerequisites are differential equations and linear algebra as covered in a first-year engineering mathematics course. The text focuses on obtaining and understanding the equations of motion, featuring a rich set of examples and exercises that are drawn from real-world scenarios. Readers develop a reliable physical intuition that can then be used to apply dynamic analysis software tools, and to develop simplified approximate models. With this foundation, they will be able to confidently use the equations of motion in a variety of applications, ranging from simulation and design to motion planning and control.
Reviews / Votes
'Park and Park have produced a compact and wonderfully accessible introductory treatment of the dynamics of mechanical systems, with a focus on providing tools useful for formulating the equations of motion of a broad range of mechanical systems, from simple toy systems to complex articulated multi-body systems.' Kevin Lynch, Northwestern University 'This book fills the gap between highly advanced books on mechanism dynamics and overly simplified textbooks that are often used in undergraduate courses. The book is a concise and nicely written introduction to the Lagrange formalism for 3-dimensional mechanical systems accessible to undergraduate engineering students. It introduces the reader to the geometry and kinematics of rigid bodies and rigid body mechanisms using the compact modern twist-wrench formulation. A central part of the book is the Lagrangian approach to nonlinear dynamics and linearized dynamics. The content is always presented in a way accessible to undergraduate students without compromising rigor of the treatment. The theory is explained via a number of well explained examples. This textbook will be a valuable companion for any engineering student.' Andreas Mueller, Johannes Kepler Universitaet LinzMore details
Language
English
Place of publication
Cambridge
United Kingdom
Target group
Professional and scholarly
Illustrations
Worked examples or Exercises
Dimensions
Height: 250 mm
Width: 175 mm
Thickness: 17 mm
Weight
594 gr
ISBN-13
978-1-009-60933-3 (9781009609333)
Copyright in bibliographic data and cover images is held by Nielsen Book Services Limited or by the publishers or by their respective licensors: all rights reserved.
Schweitzer Classification
Persons
Frank C. Park is Professor of Mechanical Engineering at Seoul National University. He is author (with Kevin Lynch) of the book 'Modern Robotics' (2017) and developer of the EdX course 'Robot Mechanics and Control Parts I-II.' He is a fellow of the IEEE, former editor-in-chief of the 'IEEE Transactions on Robotics,' and past president of the IEEE Robotics and Automation Society.
Content
1. Introduction; 2. Kinematics; 3. Particle dynamics; 4. Dynamics of a rigid body; 5. Multibody dynamics: a twist-wrench formulation; 6. Lagrangian dynamics; 7. Linearized dynamics; Appendix. Linear algebra and matrix theory basics; Index.