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B000069 - MECHANICAL ANALYSIS
Main information
Teaching Language
Course Content
Suggested readings
Learning Objectives
Prerequisites
Teaching Methods
Type of Assessment
Course program
Academic Year 2015-16
Course year
Second year - First Semester
Belonging Department
Industrial Engineering (DIEF)
Course Type
Single education field course
Scientific Area
MAT/07 - MATHEMATICAL PHYSICS
Credits
9
Teaching Hours
81
Teaching Term
21/09/2015 ⇒ 18/12/2015
Attendance required
No
Type of Evaluation
Final Grade
Course Content
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Course program
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Lectureship
- Last names A-L FROSALI GIOVANNI
- Last names M-Z MINGUZZI ETTORE
Teaching Language - Last names M-Z
Italian
Course Content - Last names M-Z
1) General theorems on systems of point particles
2) Kinematics of rigid bodies
3) Geometry and kinematics of masses
4) Screw theory and applications to mechanical moments and velocity fields of rigid bodies
5) Lagrangian formalism and virtual work principle
6) Small oscillations
7) Elements of continuum mechanics
For a detailed program refer to
http://www.dma.unifi.it/~minguzzi/
2) Kinematics of rigid bodies
3) Geometry and kinematics of masses
4) Screw theory and applications to mechanical moments and velocity fields of rigid bodies
5) Lagrangian formalism and virtual work principle
6) Small oscillations
7) Elements of continuum mechanics
For a detailed program refer to
http://www.dma.unifi.it/~minguzzi/
Suggested readings - Last names M-Z (Search our library's catalogue)
1) Frosali, Minguzzi, Meccanica Razionale per l'Ingegneria, Esculapio 2011
2) A. Fasano, V. de Rienzo e A. Messina, Corso di Meccanica Razionale, Laterza 1989
3) Goldstein, Meccanica Classica, Zanichelli 1991.
2) A. Fasano, V. de Rienzo e A. Messina, Corso di Meccanica Razionale, Laterza 1989
3) Goldstein, Meccanica Classica, Zanichelli 1991.
Learning Objectives - Last names M-Z
Students who have successfully completed the course will be able to derive the laws that determine the motion of macroscopic bodies starting from the Newton'equations. They will be able to describe the kinematics of complex bodies, will be able to solve problems in statics and dynamics and also to use conservation principles. Finally, they will be able to solve problems in Lagrangian mechanics.
Prerequisites - Last names M-Z
Analysis I and linear algebra
Teaching Methods - Last names M-Z
The theory is presented and accompanied by exercises which clarify the applications. A textbook based on the lectures assists the student in the study.
Type of Assessment - Last names M-Z
Written exam followed by an oral exam.
Course program - Last names M-Z
ELEMENTS OF LINEAR ALGEBRA, DEFINITION OF SPACE AND TIME
Dimensional analysis, Buckingham theorem, construction of dimensionless constants and dimension matrix. Arguments involving scalings. Definition of vector (linear) spaces. Span, linear independence, bases. Dimension of the vector space, isomorphism on R^ n. Change of basis, rule of the transposed inverse. Orientation of a vector space. Scalar product, definition of module. Positively oriented orthonormal bases. special orthogonal matrix. Gram-Schmidt orthogonalization. Cauchy-Schwarz inequality, definition of angle between two vectors. Vector product, formula with the determinant, independent basis, the vector product. Double vector product, the identity of Jacobi. Mixed product and its symmetries, oriented volume. Definition of affine space, systems of reference. Definition of physical space and time.
SCREW THEORY
Reference frames in relative motion. Poisson's theorem and the definition of angular velocity. The case of plane motion. The fundamental formula of rigid motions. Change in mechanical moment and in angular momentum under changes of reference point. Motivations for screw theory. Screw definition. Resultant of the screw and its uniqueness. Examples of screws. The scalar invariant and the vector invariant. The screw axis. The screw pitch, degenerate cases. The screws form a vector space. Composition of rigid motions, additivity of angular velocities. Scalar product of screws: kinetic energy and power. Equivalent systems of forces, balanced systems. Varignon's theorem. Cases in which the resultant vanishes or not. Special cases where the vector invariant is zero: coplanar vectors, parallel and concurrent vectors. The center of parallel forces. Screw of a straight line in space. Scalar product between two lines. Dual numbers and screw calculus, dual angle.
KINEMATICS OF RIGID SYSTEMS.
Definition of rigid system. Degrees of freedom. Inertial and body reference systems. Euler angles. Rigid transformations. Special orthogonal linear transformations. Elements on orthogonal matrices. Transformation of the plane into itself. Rotation and rotation matrix. Relationship between the vector product and antisymmetric matrices. Locus spanned by instantaneous axis of rotation in inertial and body frames. Reconstruction of motion. Special rigid motions: translation, rotation, precession. Plane motion and instantaneous center of motion. Locus spanned by the centers of motions. Chasles theorem. Determination of the instantaneous center of rotation knowing the speed of a point and the angular velocity. Free rigid systems. Euler's theorem and the tennis racket theorem. Poinsot's description of of free motion with the ellipsoid of inertia. Reference systems in relative motion: relative speed, relative acceleration, centripetal and Coriolis. Dragging speed and dragging acceleration.
GENERAL THEOREMS ON SYSTEMS OF MATERIAL POINTS.
The cross product. Newton's laws. Action and reaction, internal and external forces. First cardinal equation. Center of mass and its behavior in combination of more bodies. Motion of center of mass theorem. Work. Kinetic energy theorem (forze vive) in three versions: the material point; the system with only the external forces applied to the center of mass; the system of all points considering all forces. Null work of the internal forces in the rigid body, the friction forces. Conservative forces. Gradient, curl and divergence. Theorem of the closed circuit, Stokes and divergence theorems. Irrotational fields, singularity and gradient. Conservation of mechanical energy. Kinetic and potential energy. Examples of conservative forces: gravity and spring. Koenig's theorem for the kinetic energy. Angular momentum, and the second cardinal equation with respect to a point in motion. The center of mass case. Independence of relative angular momentum of the reference point. Koenig's theorem for the angular momentum. Rolling with sliding and conservation of angular momentum with respect to the contact point. The pure rolling condition.
GEOMETRY AND KINEMATICS OF THE MASSES.
Introduction to the geometry of the masses. The matrix of the moments of inertia and its interpretation as a linear application. Link between angular velocity and angular momentum. The kinetic energy for rigid bodies. Parallel axis theorem (or transport) in the matrix formulation. Expression of the moment of inertia with respect to an axis. Principal axes of inertia, principal moments of inertia and diagonalization of the inertia matrix (spectral theorem). Invariants of the inertia tensor. Planar systems, remarkable property. Construction of the ellipsoid of inertia. Graphical calculation of axial moments through the ellipsoid of inertia. Use of symmetries for the determination of the main axes and the inertia matrix. Property of stationarity of the main axes. Exercises with negative masses.
STATICS
The cardinal equations of statics. The funicular polygon and the meaning of its closure. Solving problems with the funicular polygon. The two and three forces theorems. free system, isostatic and hyperstatic. Examples of constraints. three-hinge system with one or both of arches loaded (superposition principle). Section method and analysis of nodes. Principle of virtual work and its use for the determination of the forces. Examples.
LAGRANGIAN MECHANICS
Space of configurations and generalized coordinates. Holonomic and nonholonomic constraints. The principle of virtual work, and the principle of d'Alembert. The Lagrange equations, with or without non-conservative generalized forces.
SMALL OSCILLATIONS.
One-dimensional case. Stationary points for the potential.Stability. The mass matrix and the quadratic approximation of potential and kinetic energies. Simultaneous diagonalization of two matrices. Pulsations and eigenvalues. Eigenvectors and principal modes. Small oscillations.
Dimensional analysis, Buckingham theorem, construction of dimensionless constants and dimension matrix. Arguments involving scalings. Definition of vector (linear) spaces. Span, linear independence, bases. Dimension of the vector space, isomorphism on R^ n. Change of basis, rule of the transposed inverse. Orientation of a vector space. Scalar product, definition of module. Positively oriented orthonormal bases. special orthogonal matrix. Gram-Schmidt orthogonalization. Cauchy-Schwarz inequality, definition of angle between two vectors. Vector product, formula with the determinant, independent basis, the vector product. Double vector product, the identity of Jacobi. Mixed product and its symmetries, oriented volume. Definition of affine space, systems of reference. Definition of physical space and time.
SCREW THEORY
Reference frames in relative motion. Poisson's theorem and the definition of angular velocity. The case of plane motion. The fundamental formula of rigid motions. Change in mechanical moment and in angular momentum under changes of reference point. Motivations for screw theory. Screw definition. Resultant of the screw and its uniqueness. Examples of screws. The scalar invariant and the vector invariant. The screw axis. The screw pitch, degenerate cases. The screws form a vector space. Composition of rigid motions, additivity of angular velocities. Scalar product of screws: kinetic energy and power. Equivalent systems of forces, balanced systems. Varignon's theorem. Cases in which the resultant vanishes or not. Special cases where the vector invariant is zero: coplanar vectors, parallel and concurrent vectors. The center of parallel forces. Screw of a straight line in space. Scalar product between two lines. Dual numbers and screw calculus, dual angle.
KINEMATICS OF RIGID SYSTEMS.
Definition of rigid system. Degrees of freedom. Inertial and body reference systems. Euler angles. Rigid transformations. Special orthogonal linear transformations. Elements on orthogonal matrices. Transformation of the plane into itself. Rotation and rotation matrix. Relationship between the vector product and antisymmetric matrices. Locus spanned by instantaneous axis of rotation in inertial and body frames. Reconstruction of motion. Special rigid motions: translation, rotation, precession. Plane motion and instantaneous center of motion. Locus spanned by the centers of motions. Chasles theorem. Determination of the instantaneous center of rotation knowing the speed of a point and the angular velocity. Free rigid systems. Euler's theorem and the tennis racket theorem. Poinsot's description of of free motion with the ellipsoid of inertia. Reference systems in relative motion: relative speed, relative acceleration, centripetal and Coriolis. Dragging speed and dragging acceleration.
GENERAL THEOREMS ON SYSTEMS OF MATERIAL POINTS.
The cross product. Newton's laws. Action and reaction, internal and external forces. First cardinal equation. Center of mass and its behavior in combination of more bodies. Motion of center of mass theorem. Work. Kinetic energy theorem (forze vive) in three versions: the material point; the system with only the external forces applied to the center of mass; the system of all points considering all forces. Null work of the internal forces in the rigid body, the friction forces. Conservative forces. Gradient, curl and divergence. Theorem of the closed circuit, Stokes and divergence theorems. Irrotational fields, singularity and gradient. Conservation of mechanical energy. Kinetic and potential energy. Examples of conservative forces: gravity and spring. Koenig's theorem for the kinetic energy. Angular momentum, and the second cardinal equation with respect to a point in motion. The center of mass case. Independence of relative angular momentum of the reference point. Koenig's theorem for the angular momentum. Rolling with sliding and conservation of angular momentum with respect to the contact point. The pure rolling condition.
GEOMETRY AND KINEMATICS OF THE MASSES.
Introduction to the geometry of the masses. The matrix of the moments of inertia and its interpretation as a linear application. Link between angular velocity and angular momentum. The kinetic energy for rigid bodies. Parallel axis theorem (or transport) in the matrix formulation. Expression of the moment of inertia with respect to an axis. Principal axes of inertia, principal moments of inertia and diagonalization of the inertia matrix (spectral theorem). Invariants of the inertia tensor. Planar systems, remarkable property. Construction of the ellipsoid of inertia. Graphical calculation of axial moments through the ellipsoid of inertia. Use of symmetries for the determination of the main axes and the inertia matrix. Property of stationarity of the main axes. Exercises with negative masses.
STATICS
The cardinal equations of statics. The funicular polygon and the meaning of its closure. Solving problems with the funicular polygon. The two and three forces theorems. free system, isostatic and hyperstatic. Examples of constraints. three-hinge system with one or both of arches loaded (superposition principle). Section method and analysis of nodes. Principle of virtual work and its use for the determination of the forces. Examples.
LAGRANGIAN MECHANICS
Space of configurations and generalized coordinates. Holonomic and nonholonomic constraints. The principle of virtual work, and the principle of d'Alembert. The Lagrange equations, with or without non-conservative generalized forces.
SMALL OSCILLATIONS.
One-dimensional case. Stationary points for the potential.Stability. The mass matrix and the quadratic approximation of potential and kinetic energies. Simultaneous diagonalization of two matrices. Pulsations and eigenvalues. Eigenvectors and principal modes. Small oscillations.