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Newton - Euler Equation

The document discusses Newton's laws of motion and kinematics of planar and spatial mechanisms. It explains Newton's three laws of motion, including that an object remains at rest or in motion unless acted on by an external force, that force equals mass times acceleration, and that for every action there is an equal and opposite reaction. It defines kinematics as the study of motion without regard to cause, and describes planar mechanisms as two-dimensional and spatial mechanisms as three-dimensional. Key aspects of planar and spatial kinematics are also summarized.

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87 views2 pages

Newton - Euler Equation

The document discusses Newton's laws of motion and kinematics of planar and spatial mechanisms. It explains Newton's three laws of motion, including that an object remains at rest or in motion unless acted on by an external force, that force equals mass times acceleration, and that for every action there is an equal and opposite reaction. It defines kinematics as the study of motion without regard to cause, and describes planar mechanisms as two-dimensional and spatial mechanisms as three-dimensional. Key aspects of planar and spatial kinematics are also summarized.

Uploaded by

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Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Newton Euler equation

Basic laws of Newton mechanics


Kinematics of planar and spatial mechanisms
Free body diagram in statics of mechanisms

Laws of Newton
First - When viewed in an inertial reference frame, an object either remains at
rest or continues to move at a constant velocity, unless acted upon by an
external force.
Second - The vector sum of the force F on an object is equal to the mass m of
that object multiplied by the acceleration vector a of the object: F = ma.
Third - When one body exerts a force on a second body, the second body
simultaneously exerts a force equal in magnitude and opposite in direction on
the first body.

Kinematics of planar and spatial mechanisms


Kinematics means the study of motion, without regard for the cause of the
motion.
Mechanisms can be divided into planar mechanisms and spatial mechanisms,
according to the relative motion of the rigid bodies. In a planar mechanisms, all
of the relative motions of the rigid bodies are in one plane or in parallel planes. If
there is any relative motion that is not in the same plane or in parallel planes,
the mechanism is called the spatial mechanism. In other words, planar
mechanisms are essentially two dimensional while spatial mechanisms are three
dimensional. This tutorial only covers planar mechanisms.
Planar Kinematics - Any displacement can be described as a translation
followed by a rotation. But for planar kinematics we can go much furtherevery

displacement can be described as either a translation or a rotation. In fact, if we


allow the small mathematical convenience of allowing points at infinity,
translations can be treated as rotations, so that every planar displacement can
be viewed as a rotation.

A planar displacement is completely determined by the

motion of any two points.


Every planar displacement is either a translation or a
rotation.

Spatial Kinematics Also known as spherical kinematics. If we view the plane


to be the surface of a sphere, where the radius has passed to infinity, then planar
kinematics is analogous to spherical kinematics.

A displacement of the sphere is completely determined by

the motion of any two points that are not antipodal.


For every spatial rotation, there is a line of fixed points. In
other words, every rotation about a point is a rotation about

a line, called the rotation axis.


Every spatial displacement is the composition of a rotation
about some axis, and a translation along the same axis.

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