Intermediate Dynamics for Engineers: Newton-Euler and Lagrangian Mechanics

Suitable for both senior-level and first-year graduate courses, this fully revised edition provides a unique and systematic treatment of engineering dynamics that covers Newton-Euler and Lagrangian approaches. New to this edition are: two completely revised chapters on the constraints on, and potential energies for, rigid bodies, and the dynamics of systems of particles and rigid bodies
clearer discussion on coordinate singularities and their relation to mass matrices and configuration manifolds
additional discussion of contravariant basis vectors and dual Euler basis vectors, as well as related works in robotics
improved coverage of navigation equations
inclusion of a 350-page solutions manual for instructors, available online
a fully updated reference list. Numerous structured examples, discussion of various applications, and exercises covering a wide range of topics are included throughout, and source code for exercises, and simulations of systems are available online.