Index

Acceleration 7, 21 8 Dispersion 125, 149

Aerodynamic mean chord 113 Diagram 151
Aircraft Stability 271 Dissipation function 27
Angular velocity 58 Divergence 290
Apsides 93 Doppler Effect
Archimedes 1 Light 244
Aristotle 1 Sound 242
Aspect Ratio I12 Drag I 12
Dyad 212
Bandpass Filter 163 Dyadic 273
Bending Waves 155
Bertrand 93
Eigenvalue 279,62
Binet Diagram 73
Eigenvector 279.62
Einstein A 235
Car, Stability 270
Einstein’s Summation Convention 272
Centre of Mass 15
Elastic Modulii 177
Characteristic Impedance 130
End Effector 185
Chasle’s theorem 56
Roll Pitch and Yaw 196
Co-ordinates 7
in Wave 132
Cartesian 7
Equivalence - Principle of 5
Curvilinear 289
Euler’s
Cylindrical 8
Angles 75
Path 9
Transverse Waves in Beams I57
Spherical 8
for Rigid Body Rotation 64
Coefficient of Restitution 136
theorem of Rotation 56
Collision 4
Eulerian Co-ordinates 129
Conic sections 94 Evanescent Waves 162
Conservation
Event 236
Laws 3 1
of Momentum 250, 17
Constraints 28 I Force I , 2, 5
Coriolis’s Theorem 14 Central 90
Cross Mamx 274 Relativistic 252
Curl 290 Four Velocity 248
Cyclic Co-ordinates 3 1 Frame of Reference, Rotating 35

D’Aiembert’s Principle 19 Galilean Transformation 238

Degeneracy 279 Galilea 2
Denavit Hartenberg Representation 208 Gauss’s Principle 283
300 Index

Generalized Transformation 239

Coordinates 23
Momentum 32 Manipulator 2 10
Gibbs Appell Equations 284 Mass 3
Gradient 292 active and passive 3
Gravitational Potential 85 Invarient 25 1
Gravity 1 Reduced 89
Universal Constant 3 Maxwell 235
Group Velocity 15 I Moment of
Gyroscope 26 1 Force 12
Gyroscopic behaviour 83 Inertia 61
Ellipsoid 67
Hamilton’s Principal 63
Equation 33 Momentum 12
Principle 47 Momentum 1 I
Relativistic 258 Moore Penrose Inverse 286
Hamiltonian 33
Helical Spring 168 Neutral Steer Point 122
Herpolhode 71 Newton’s
Hertz Theory of Contact 139 Laws 2
Holonomic constraints 24 Third Law, weak 18
Homogeneous Co-ordinates 205 Non-Holonomic
Hopkinson Bar 144 constraints 24
systems 4 1
Ignorable Co-ordinates 3 1
Impact 133 Oblateness of Earth 100
Relativistic 254 Orbits, stability of 91
Impulse 12 Orthogonality 279
Inverse Kinematic Problem 2 14 Oversteer 124

Jet Damping 105 Periodic Structures 161

Phase Velocity I51
Kepler 1 Phugoid Oscillation I 17
Kepler’s Pitch 110
1 st and 3rd Laws 99 Pitching Moment Coefficient 112
2nd Law 97 Poinsot Ellipsoid 69
Kinetic Energy 13 Polhode 71
Compementary 48 Potential
of a Rigid Body 65 Pseudo 91
Kronecker Delta 277 Energy 13
Power 6
Lagrange’s Equations 2 1 Precession 71
from Hamilton’s Principle 51 Forced 80
Impulsive forces 43 Principle of Equivalence 259, 5
Moving Co-ordinates 39 Pulse Peak Velocity 153
Relativistic 258
Rotating Frame 35 Rayleigh Waves 189
in Robotics 223 Rear wheel steer 120
Lagrange’s Undetermined Multipliers 41 Reflection, At Plane Surface 186
Lagrangian 21 One dimensional Wave 130
Lagrangian Revolute Robot Arm 185
Electro magnetic 37 Rheonomous 24
Coordinates 129 Rigid Body, Torque free motion 67
Lame Constants I77 Rise time 141
Lateral Force Coeff., Tyres 1 I8 Robot
Lift Coefficient 1 I 1 Co-ordinates 194
Lorenz Factor 239 Minimover 267
 Index 301
Puma 269 Tides, effect of 74
Stanford Type 266,268 Time 2
Robotics Proper 240
Discussion Example 227 Dilation 240
Data Sheet 233 Timoshenko Equation - Transverse Waves in
Rocket 103,271 Beams 159
Roll 110 Top, Sleeping 79
Rotation 55 Transformation Matrix (4x4) 206
about Arbitrary Axis 202 Twin Paradox 249
about Body Axes 204 Tycho Brahe 1
Finite 200
Matrix 201 Understeer 124
Routh-Hurwitz 116

Satellite 93 Vectors, Axial and Polar 277

De Spinning 107 Velocity 6
Scleronomous 24,30 angular 58
Serret-Frenet Formulae 1 1 Relativistic 246
Simultanaeity 241 Virtual Work 18,281
Snell’s Law 187
Space 2 Wave
Spacecraft, Lunar Mission 261 Equation 128
Stability in String 52
Aircraft 109 Torsional 263
of rotating flexible body 73 Speed 128
Static Margin Wavenumber 149
Aircraft 115 Waves
Cars 121 Dilatatational 183
Strain 172,295 Equivoluminal 183
Plane 184 Irrotational 183
Shear 175 One dimensional 125
Tensile 175 Potential functions 18 I
Waves 125 Reflection One Dimensional 265
Stress 176, 295 Seismic 183
Symmetrical Body - Top Gyroscope 76 Shear 183
Three Dimensional 179
Tensor Transverse in Beam with Tension 265
Alternating 274 Work 5
Rank 272
Diagonalization 278 Yaw 110