8 - Dynamics of Rigid Body Systems

Abstract

In this chapter we aim at showing, on the example of tree structured systems, how dynamics of rigid body systems may be expanded. It would be possible to write down the general dynamic equations for tree structured systems (this was done in (1984)), even to build softwares making the job and generating the dynamic equations. However, it is generally very difficult to understand the limitations of such software and to use it in complete safety. Moreover to handle mechanics is not evident and, before a particular system, it seems better to build a correct physical model and, using the principles of general mechanics, to write down the dynamic equations in the synthetic language we present in this book. The language exposed below permits to remain in control of the length of the equations. In (1999) dynamics of cycles structured systems was investigated confirming that the approach to dynamics of systems presented in this chapter extends to any rigid body system.