Analytical Dynamics Errata Sheet

Please Note: My word processor does not print boldface Greek characters. So, to denote a boldface
Greek character, I underline it in this errata sheet.
Page

Location

Error and its Correction

4
17
54
91
100
135
155
187
203
213
233
234
235
238
240
245

Eq. [b]
First line
before Eq. [1.8.2]
Eq. [2.3.2]
Footnote
Eq. [2.8.12]
Eq [3.2.7]
Fig. 3.22
Eq. [l]
Problem 37
Before Ex. 4.5
Fig. 4.13
Eq. [d]
Eq. [4.5.7]
Eq. [c]
Before Sec. 4.7

258
262
263
265
284
288
295
308
309
312
314
320

1st term in Eq. [f]

betw Eqs. [b]&[c]
Eq. [h]
Fig. 4.24
Fig 5.2
Eq. [c]
Eq. [e]
Eq. [5.7.11b]
Fig. 5.7
eq. [5.12.6]
After [5.13.1]
Problem 19

320
321
321
336
340
340
351
354
362
379
380
410
412

Problem 20
Problem 29
problem 32
Eq. [6.4.5]
Eq. [j]
Eq. [l]
Problem 1
Problem 16
Eq. [7.3.10]
[Eq. 7.6.6]
Eq. [b]
Fig. 7.40
Problem 1

412

Problem 2

414

Problem 9

Middle line units should be 1 lb/ft*3

= 0 should read t = 0
Last sentence of paragraph should read From Eq. [1.7.27] we have
Unit vectors should be e1 , e2 , e3 , not i, j, k
Eq. [2.14.12b] should be Eq. [2.4.12b]
should be (also on next page in text and in Fig. 2.37)
PN
should read i=1 mi i = 0
Line closest to x axis it should read a
Last term on left side should read mg(R r) sin
Should read: Consider the bar attached to a disk in Problem 33 ...
remove th word holonomic from last line
R is mislabeled. Length of short line is R
First term on right side should be Bx L1 c1 1
Index of summation should be k and not i
left side of second expression should be rG1 (boldface for r)
Last sentence should read: The only equilibrium solution is if
cos 1 = cos 2 = 0, which is the upright position of the linkage.
Should read Qx = F cx 21 cb cos
should be v = r
v = re
the sin term should be Y sin
Grounded link is of length L4
Caption should be Mass-spring-damper system
33 element of [D] should be c2 , not 0
Middle terms in the two expressions should be 2m22 and 2m32
Last term should be {g}T
Caption should read A spring pendulum

Right parenthesis missing on top line. ... {q}

([riq ]{q}
+ 2 t
[riq ]{q})
+ ...
Say keeping the independent variable,
Last sentence should read: Approximate the two natural frequencies
and plot the free response.
Add to end of problem the following: The initial angular velocities are zero.
Should read: Derive the equations of motion ...
Should read: Solve problem 4.39 using ...
last term should be m(d2y + d2z )
Right paren missing after IGbar
Second term on right should be [IGmass ]
Length of body along x axis should be b
Add: for the value b = 4a
i
Should read 1i =
In second term, minus sign missing before summation signs
Third term should be u3 = 3 = cos +
radius of front wheel is R3
Last sentence should read: Find the velocity of the tip of the bar as
a function of the angle .
problem should read: For the system shown in Fig. 7.43, find
the instantaneous center of the rod AB and its angular velocity.
last part of sentence should read: using the derivatives of the Euler angles

415
418
419
436
440

Problem 21
Problem 31
[R] for 3-1-3
Eq. [8.5.31]
Eq. [o]

444
445
475
483
486
498
503
507
512
526
535

Fig. 8.13
Eq. [f]
Eq.[8.11.8]
Problem 16
Fig. 8.35
Eq. [9.3.3]
Eq. [f]
Eq. [9.5.12]
Eq. 9.6.19
over Eq. [9.8.8]
under Eq.[9.10.27]

543
543
544
544
553
564
576
585
585
583
586
586
586
586
587
587
597
598
598
598
599
603

Problem 6
Problem 8
Problem 19
Problem 25
Eq/ [10.2.22]
Eq. [10.5.1]
above Eq.[10.6.25]
4th line
Fig. 10.20
Fig. 10.19
Eq. [10.7.23]
Eq. [10.7.24]
Eq. [10.7.25]
Eq. [10.7.26]
Problem 1
Problem 3
Eq. [11.2.13]
Eq. 11.2.19]
Eq. [11.2.21]
Eq. [11.2.22]
Eq. [11.2.27]
Eq. [b]

604
605
611
615
625
627

Eq. [11.3.2]
Eq. [b]
under [11.3.27]
Eq. [e]
Eq. [b]
Table 11.3

633

Eq.[11.5.24]

as the generalized speeds.

In this problem is constant.
In this problem, the length of the rod is 2.5 R.
21 element should be cs scc
All the left subscript f should be subscript F
should read M Mz cos + Mx sin = 0
Consequently, all the signs in Eqs. [q] and [r] are reversed.
Direction of mg should be along negative Y axis.
MX MY should be replaced with MX and MY
There should be no dm term in the middle expression (the one with the integral sign)
In this problem = 0
Axis pointing down should be b1
Left side should read {mvG } and not {vG }
2
In second line, 32 element of fist matrix should be 3 + tan

t
Second term (v = ...)is incorrect, ignore it.
Tkr should be Trk
In next to last line of paragraph wi should be boldface 1
Paragraph should read: For constrained systems, a Lagrange multiplier
vector enters the formulation the same way that it does in the traditional
Lagranges equations. Alternatively, one can select a set of
independent generalized speeds. In this case, [Y ] should be written such
that Eq [9.10.18] is satisfied.
Last line should read : the partial velocities of points D and P .
Add to problem: Calculate the partial velocities of G.
Last sentence should read: Consider rotational motion of the main body only.
Solve Problem 3 using .... not problem 2
+
Third term should be 3 = c
1
No i after the one half, 2 (I1 12
In line above Eq.[10.6.25], it should say Recall from Eq. [e], not Eq. [f]
Note that the inner gimbal is stationary.
This figure should be the same as Fig. 2.49 (p. 148).
f2 should read f2

Minus sign missing from 1st term on right side k Y ...

Minus sign missing from 1st term on right side
Minus sign missing from 1st term on right side
Minus sign missing from 1st term on right side
Length of football should be 25 cm, and player tips the football at the front
Precession rate should be 0.25 rad/s, not 0.2 rad/s.
+zw00 (x, t) should be +zw00 (x, t)
Same mistake as above
2EIyz should be +2EIyz
Last term should be EA(x)e0 (x, t)
Left side should be u(x, y, z, t)
Second line should have added term M gw(h, t) due to potential energy of ring
Also, in first line the 1/2 should be before EIy .. It should not cover the (x)gw(x, t) term
Third term should be w
w and not w
w

First integrand in Fourth line should begin with a minus sign

term on right on line immediately below Eq. [11.3.27] should read ky (x)v(x, t)
Add dx to first term on top line
The integrand should be 0r (x)(x)dx with the delta double underlined
4th column 3rd term (corresponding to Consistent admissible functions)
should read: All geometric boundary conditions. Do not prevent dynamic ...
In krs term the triangular brackets should be replaced by square brackets, as in [11.2.45]

641
648
649
649
656
662
665
666
667
668
668
674
690
698
698

Eq. [11.6.7]
eq. [11.7.12]
Above Eq 11.7.15
Eq.[11.7.17b]
Table 11.7
Below Eq. [e]
Fig. 11.41
Problem 10
Problem 18
Problem 23
Problem 25
and also p. 680
Eq. [B11]
Eq. [e]
Table B.1

715

Integrand is (x)[(x + u(x, t))i + v(x, t)j]dx

On right side, (x) should not be boldface
Two lines above, replace the extended Hamiltons principle with Lagranges equations
First integral is missing a dx
3rd column (yes, yes, no, yes, yes, no, yes, no) should be all Yes.
(x) should be 1 (x)
Length of bar is not given. It should be L.
3rd line should read a = L/2, k = 2EIo /L3 , where Io = bh3 /12.
Radius of shaft should be 2 cm, not 3 cm. Also, a = 0.8m.
Last word of problem should be satellite, not hub.
In second line, J = 0.3M R2 , not I = 0.3M R2
Mauperitus should read Maupertuis.
cr
Second term should be c0sr = x
s
dy
d
First term in integrand should be dx
(p(x) dx
)
Last column, last element should read: Mass moment of inertia per unit
length I(x)
Poincari should be Poincare.

Last revised April 6, 2005

If you find any other errors please bring to my attention (baruh@jove.rutgers.edu). Thank you