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This chapter introduces two distinct methodologies for developing dynamic models of systems composed of discrete masses (particles) and rigid bodies, connected by elastic and dissipative elements, and subjected to external forces. The direct method involves applying Newton-Euler equilibrium laws to the individual inertial components of the dynamic system. The indirect method, based on energy principles, applies Lagrange’s equations to the system’s degrees of freedom. Additionally, the chapter explains the concepts of generalized coordinates and inputs, kinematic constraints, and degrees of freedom.

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Dynamic Modeling of Mechanical Systems

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  • 发表日期：

    2026年

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  • Paulo Kurka

摘要

This chapter introduces two distinct methodologies for developing dynamic models of systems composed of discrete masses (particles) and rigid bodies, connected by elastic and dissipative elements, and subjected to external forces. The direct method involves applying Newton-Euler equilibrium laws to the individual inertial components of the dynamic system. The indirect method, based on energy principles, applies Lagrange’s equations to the system’s degrees of freedom. Additionally, the chapter explains the concepts of generalized coordinates and inputs, kinematic constraints, and degrees of freedom.