Abstract
This text is a classical and complete book on rigid multibody dynamics. Some of the topics covered include: various angular orientation descriptions, including Euler angles, Bryan angles, and Euler-Rodrigues parameters; quaternion algebra; virtual power; graph theory; and vibration analysis of chains of bodies. The textbook is an excellent reference, containing valuable material for graduate students and researchers. The chapters have an average of six example and problem sets, for which solutions are provided. Aside from the lack of problems, the book can easily be used as a text for a graduate course on the dynamics of rigid multibody systems.
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