Multibody Systems

The module provides knowledge of the kinematic and kinetic relationships of spatial multi-body systems and the derivation of the equations of motion. After successfully completing the module, students will be able to

• analyze the kinematics of planar and spatial systems
• determine relationships between position, velocity and acceleration variables
• formulate constraints (holonomic and non-holonomic)
• perform coordinate transformations
• derive equations of motion with the aid of the momentum and angular momentum theorems and Lagrange's equations of the 1st and 2nd kind and apply
• formalisms for multi-body systems.

• Introduction to kinematics and kinetics
• Newton-Euler equations
• Lagrange equations
• Formalisms for multibody systems
• D'Alembert, Jourdain und Gauß principles
• Stability problems
• Gyroscopic theory

• Engineering Mechanics III 
• Engineering Mechanics IV

• Lecture-related worksheets (see downloads)
• Exercise-related problem set (see downloads)
• Exercise solutions (see downloads)
• Collection of exams (see downloads)
• Collection of formulas of IDS/IKM    

Further literature:

• Popp, Schiehlen: Fahrzeugdynamik, Teubner-Verlag 1993.
• Kane, Levinson: Dynamics, Theory and Applications, McGraw Hill, N.Y., 1985

Lecture, exercise and examination dates as well as further information on the examinations can be found in the General Information.