Standard syllabus
Multibody dynamics · Graduate · Engineering
Topics
Kinematics and constraints
- Multibody system topology and graphs
- Absolute and relative coordinates
- Holonomic and nonholonomic constraints
- Constraint equations and Jacobian matrices
- Index-3 DAE structure in multibody models
- Redundant constraint detection and stabilization
- Kinematic loops and closed-chain mechanisms
- Joint types: revolute, prismatic, spherical, universal
- Driver constraints and prescribed motion
- Singular configurations and redundancy resolution
Dynamics formulations
- Newton-Euler equations for bodies
- Lagrange multipliers for constrained dynamics
- Kane's method and Jourdain's principle (survey)
- Mass matrix assembly for multibody systems
- Coriolis and centrifugal force terms
- Energy and momentum conservation checks
- Impact and contact models: penalty and restitution
- Flexible multibody: floating frame of reference
- Modal reduction for flexible bodies
- Numerical integration of stiff multibody DAEs
Pricing
Graduate-level rates are set on consultation. See the pricing page for K–12 and undergraduate rates.