Jeff_rigid_body_notes_optimized.pdf, Summaries of Dynamics

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Multibody dynamics notes by Jeff Trinkle (www.cs.rpi.edu/~trink ). FREE to use as long as the original author is mentioned. Beale eB lit Se edikeths ie ty i Wart bh OC a tn 26/03 An fratin stn oO Let wand 2 be veces of longtt, n. Further, lot wa) be @ gen function, The Complomanctanitey pollen sf find 2 sabsfying 5 Z20, WRH2O > wir) #20 OE | Ose tL wea oO Linear Complumandonity Follom (hep) JF wia) is defined as wersFa+f whore Fe R™ and FER" ane Gren corctants LCP of Sre A Unique Two Sul ahs Slides The LCP has a z wniqua sduttey if Fis a P-matny and “ Lomke’s alg. 15 querantead 2 te Find esl in Bie ide —N Saen 3/2) {o4 Dynamics of a. Pouele a x x) fo eel lf 2 a) la Au? Noikens Law * Same. —_——— Sones = Fe fim) Fa my type Equations of Mebign of Mohn in Furst Ord Ordar Fe Fare 3 Wwe want bo Opp. he. SDlutcen over othe atime, ine? [aj a). (Assume constant fing sips.) te Ohl for Pe 1) M ohn fp. bre mM