Disusun oleh :

EKO BUDI HARTONO

NIM : A 101.15.014
AKADEMI ANALIS KESEHATAN NASIONAL SURAKARTA
TAHUN AKADEMIK 2011/ 2012
BAB I
DEFINISI ACCELEROMETER
Definisi Accelerometer
Pengertian Accelerometer adalah suatu alat atau transuder untuk mengukur percepatan
sehingga dapat mendeteksi adanya perubahan posisi device/perangkat dan berapa banyak
perubahan itu terjadi. Alat ini memberikan pengalaman baru dalam berinteraksi dengan
device bergerak dan tidak hanya dapat digunakan untuk aplikasi biasa namun juga terutama
untuk game.
Prinsip Kerja Accelerometer
Accelerometer akan menangkap perubahan pada posisi pada dimensi x, y dan z. Dengan
menangkap perubahan itu, kita dapat memasukkan kode yang bereaksi pada perubahan
tertentu. Sumbu pada device tidak berubah ketika orientasi (portraint dan landscape) dari
device berubah. Sumbu Y akan selalu berada menuju ke atas bawah dari device, tegak lurus
tiga hardware button, sumbu X selalu berada dari sisi ke sisi searah dengan tiga hardware
button dan sumbu Z merupakan sumbu maya yang menembus device jika kita memegang
device dan melihat kearah device.
Kelebihan dan Kelemahan Accelerometer
Dapat mengukur gerakan linier & gravitasi secara bersamaan.
Harga lebih murah dibandingkan Gyroscope.
Tidak mengukur gerak rotasi manusia.
Pada accelerometer dipengaruhi oleh gravitasi.
Tidak dapat mengukur orientasi secara langsung.
Kegunaan Accelerometer
Accelerometer iPhone mengukur percepatan linier dari perangkat sehingga dapat melaporkan
gulungan dan pitch, tapi tidak yaw nya. Jika kita berurusan dengan iPhone 3Gs, yang
memiliki kompas digital, kita bisa menggabungkan dan magnetometer bacaan untuk memiliki
roll, pitch dan pengukuran yaw.
BAB II
GYROSCOPE
Definisi Gyroscope
Giroskop adalah salah satu alat navigasi dari banyak alat bantu lain semisal kompas dan GPS.
Giroskop dapat digunakan untuk mengukur, atau mempertahankan, orientasi perangkat. Tidak
seperti accelerometer, yang mengukur percepatan linear dari perangkat, giroskop mengukur
orientasi secara langsung. Sehari-hari kita dapat melihat peristiwa ini pada gasing yang
berputar dan roda sepeda. Prinsip kerjanya seperti kompas yang memiliki jarum magnet statis

untuk menunjuk arah utara dan selatan. Acuan kompas adalah medan magnet bumi yang
kutub-kutubnya tidak sama dengan kutub-kutub geografis bumi
Prinsip Kerja Gyroscope
Gyroscope mengukur kecepatan sudut, seberapa cepat sesuatu yang berputar mengelilingi
suatu sumbu. Jika anda mencoba untuk memantau orientasi objek bergerak, accelerometer
mungkin tidak memberikan informasi yang cukup untuk tahu persis bagaimana hal itu
berorientasi. Tidak seperti accelerometer gyros tidak terpengaruh oleh gravitasi, sehingga
mereka membuat pelengkap yang bagus untuk satu sama lain. Anda biasanya akan melihat
kecepatan sudut diwakili dalam satuan rotasi per menit (RAM). Tiga sumbu rotasi yang baik
direferensikan sebagai x, y dan z atau roll, pitch, dan yaw.
Kelebihan dan Kelemahan Gyroscope
Rentang skala penuh - kecepatan sudut maksimum.
Chip agak besar.
Harga relatif mahal.
Mengukur gerakan rotasi manusia.
Digunakan untuk mengukur baik, atau mempertahankan orientasi perangkat.
Kegunaan Gyroscope
Gyroscop dapat digunakan untuk mengukur atau mempertahankan orientasi perangkat. Tidak
seperti accelerometer, yang mengukur percepatan linear dari perangkat, gyroscope mengukur
orientasi secara langsung.
Ketika gyroscope disebutkan, kebanyakan orang langsung berfikir dari gyroscope mekanik,
pada dasarnya disk berputar yang sudah terpasang di dalamnya beberapa gimbal
memungkinkan untuk mengambil setiap orientasi. Namun, gyroscope dalam iphone 4 adalah
berbasis MEMS gyroscope (atau lebih mungkin tiga MEMS gyroscope independen).
Contoh penggunaan accelerometer dan gyroscope
Digunakan untuk menghitung percepatan dan penurunan percepatan dari sebuah
kendaraan.
Sport Watch, berupa jam tangan olahraga, menggunakan accelerometer untuk menghitung
kecepatan dan jarak dari si pelari atletik yang menggunakannya.
Accelerometer pada laptop biasanya digunakan pada sistem Sudden Motion Sensor, yang
biasa digunakan untuk mendeteksi jatuhnya laptop. Jika kondisi pada saat jatuh terdeteksi,
hard disk drive yang ada akan diproteksi sehingga tidak terjadi data loss.

Giroskop adalah alat untuk mengukur atau mempertahankan orientasi , berdasarkan prinsipprinsip momentum sudut . [ 1 ] Mekanis, giroskop adalah roda berputar atau disc dimana
poros bebas untuk menganggap setiap orientasi . Meskipun orientasi ini tidak tetap , berubah
sebagai respon terhadap torsi eksternal jauh lebih sedikit dan dalam arah yang berbeda
daripada itu akan tanpa momentum sudut besar yang terkait dengan tingkat tinggi disc spin
dan momen inersia . Orientasi perangkat tetap hampir tetap , terlepas dari gerak platform
pemasangan , karena pemasangan perangkat di torsi eksternal meminimalkan gimbal .
Giroskop didasarkan pada prinsip-prinsip operasi lain juga ada , seperti elektronik , microchip
-paket perangkat MEMS giroskop ditemukan di perangkat elektronik konsumen , laser cincin
solid-state , giroskop serat optik , dan giroskop kuantum sangat sensitif .
Aplikasi dari giroskop mencakup sistem navigasi inersial di mana kompas magnetik tidak
akan bekerja ( seperti dalam teleskop Hubble ) atau tidak akan cukup tepat ( seperti dalam

ICBM ) , atau untuk stabilisasi kendaraan terbang seperti helikopter radio kontrol atau
kendaraan udara tak berawak . Karena presisi mereka , giroskop juga digunakan dalam
gyrotheodolites untuk mempertahankan arah pertambangan terowongan . [ 2 ]

Gyroscope
From Wikipedia, the free encyclopedia
Jump to: navigation, search
For other uses and non-rotary gyroscopes, see Gyroscope (disambiguation).

A gyroscope
A gyroscope is a device for measuring or maintaining orientation, based on the principles of
angular momentum.[1] Mechanically, a gyroscope is a spinning wheel or disc in which the
axle is free to assume any orientation. Although this orientation does not remain fixed, it
changes in response to an external torque much less and in a different direction than it would
without the large angular momentum associated with the disc's high rate of spin and moment
of inertia. The device's orientation remains nearly fixed, regardless of the mounting platform's
motion, because mounting the device in a gimbal minimizes external torque.
Gyroscopes based on other operating principles also exist, such as the electronic, microchippackaged MEMS gyroscope devices found in consumer electronic devices, solid-state ring
lasers, fibre optic gyroscopes, and the extremely sensitive quantum gyroscope.

Applications of gyroscopes include inertial navigation systems where magnetic compasses

would not work (as in the Hubble telescope) or would not be precise enough (as in ICBMs),
or for the stabilization of flying vehicles like radio-controlled helicopters or unmanned aerial
vehicles. Due to their precision, gyroscopes are also used in gyrotheodolites to maintain
direction in tunnel mining.[2]

Contents

1 Description and diagram

2 History

3 Properties

4 Variations
o 4.1 Gyrostat
o 4.2 MEMS
o 4.3 FOG
o 4.4 VSG or CVG
o 4.5 DTG
o 4.6 London moment

5 Modern uses

6 See also

7 References

8 Further reading

9 External links

Description and diagram

Diagram of a gyro wheel. Reaction arrows about the output axis (blue) correspond to forces
applied about the input axis (green), and vice versa.
Within mechanical systems or devices, a conventional gyroscope is a mechanism comprising
a rotor journaled to spin about one axis, the journals of the rotor being mounted in an inner
gimbal or ring; the inner gimbal is journaled for oscillation in an outer gimbal for a total of
two gimbals.
The outer gimbal or ring, which is the gyroscope frame, is mounted so as to pivot about an
axis in its own plane determined by the support. This outer gimbal possesses one degree of
rotational freedom and its axis possesses none. The next inner gimbal is mounted in the
gyroscope frame (outer gimbal) so as to pivot about an axis in its own plane that is always
perpendicular to the pivotal axis of the gyroscope frame (outer gimbal). This inner gimbal has
two degrees of rotational freedom.
The axle of the spinning wheel defines the spin axis. The rotor is journaled to spin about an
axis, which is always perpendicular to the axis of the inner gimbal. So the rotor possesses
three degrees of rotational freedom and its axis possesses two. The wheel responds to a force
applied about the input axis by a reaction force about the output axis.
The behaviour of a gyroscope can be most easily appreciated by consideration of the front
wheel of a bicycle. If the wheel is leaned away from the vertical so that the top of the wheel
moves to the left, the forward rim of the wheel also turns to the left. In other words, rotation
on one axis of the turning wheel produces rotation of the third axis.
A gyroscope flywheel will roll or resist about the output axis depending upon whether the
output gimbals are of a free- or fixed- configuration. Examples of some free-output-gimbal
devices would be the attitude reference gyroscopes used to sense or measure the pitch, roll
and yaw attitude angles in a spacecraft or aircraft.

Animation of a gyro wheel in action

The centre of gravity of the rotor can be in a fixed position. The rotor simultaneously spins
about one axis and is capable of oscillating about the two other axes, and, thus, except for its
inherent resistance due to rotor spin, it is free to turn in any direction about the fixed point.
Some gyroscopes have mechanical equivalents substituted for one or more of the elements.
For example, the spinning rotor may be suspended in a fluid, instead of being pivotally
mounted in gimbals. A control moment gyroscope (CMG) is an example of a fixed-outputgimbal device that is used on spacecraft to hold or maintain a desired attitude angle or
pointing direction using the gyroscopic resistance force.
In some special cases, the outer gimbal (or its equivalent) may be omitted so that the rotor has
only two degrees of freedom. In other cases, the centre of gravity of the rotor may be offset
from the axis of oscillation, and, thus, the centre of gravity of the rotor and the centre of
suspension of the rotor may not coincide.

History

Gyroscope invented by Lon Foucault in 1852. Replica built by Dumoulin-Froment for the
Exposition universelle in 1867. National Conservatory of Arts and Crafts museum, Paris.
Essentially, a gyroscope is a top, a self-balancing spinning toy, put to instrumental use. Tops
were invented in many different civilizations, including classical Greece, Rome, Indus and
China, and the Mori culture a thousand years later.[3] Most of these, though using the same
conservation of angular momentum as a gyro, were not utilized as instruments.
The first known use of such a top as an instrument came in 1743, when John Serson invented
the "Whirling speculum" (or Serson's Speculum), a spinning top that was used as a level, to
locate the horizon in foggy or misty conditions.
The instrument used more like an actual gyroscope was made by German Johann
Bohnenberger, who first wrote about it in 1817. At first he called it the "Machine".[4][5]
Bohnenberger's machine was based on a rotating massive sphere.[6] In 1832, American Walter

R. Johnson developed a similar device that was based on a rotating disc.[7][8] The French
mathematician Pierre-Simon Laplace, working at the cole Polytechnique in Paris,
recommended the machine for use as a teaching aid, and thus it came to the attention of Lon
Foucault.[9] In 1852, Foucault used it in an experiment involving the rotation of the Earth.[10]
[11]
It was Foucault who gave the device its modern name, in an experiment to see (Greek
skopeein, to see) the Earth's rotation (Greek gyros, circle or rotation),[12] which was visible in
the 8 to 10 minutes before friction slowed the spinning rotor.
In the 1860s, the advent of electric motors made it possible for a gyroscope to spin
indefinitely; this led to the first prototype heading indicators and, quite more complicated
devices, first gyrocompasses. The first functional gyrocompass was patented in 1904 by
German inventor Hermann Anschtz-Kaempfe.[13] The American Elmer Sperry followed with
his own design later that year, and other nations soon realized the military importance of the
inventionin an age in which naval prowess was the most significant measure of military
powerand created their own gyroscope industries. The Sperry Gyroscope Company quickly
expanded to provide aircraft and naval stabilizers as well, and other gyroscope developers
followed suit.[14]
In 1917, the Chandler Company of Indianapolis, created the "Chandler gyroscope", a toy
gyroscope with a pull string and pedestal. Chandler continued to produce the toy until the
company was purchased by TEDCO inc. in 1982. The chandler toy is still produced by
TEDCO today.[15]
In the first several decades of the 20th century, other inventors attempted (unsuccessfully) to
use gyroscopes as the basis for early black box navigational systems by creating a stable
platform from which accurate acceleration measurements could be performed (in order to
bypass the need for star sightings to calculate position). Similar principles were later
employed in the development of inertial guidance systems for ballistic missiles.[16]
During World War II, the gyroscope became the prime component for aircraft and antiaircraft gun sights.[17] After the war, the race to miniaturize gyroscopes for guided missiles
and weapons navigation systems resulted in the development and manufacturing of so-called
midget gyroscopes that weighed less than 3 ounces (85 g) and had a diameter of
approximately 1 inch (2.5 cm). Some of these miniaturize gyroscopes could reach a speed of
24,000 revolutions per minute in less than 10 seconds.[18]
3-axis MEMS-based gyroscopes are also being used in portable electronic devices such as
Apple's current generation of iPad, iPhone and iPod touch.[19] This adds to the 3-axis
acceleration sensing ability available on previous generations of devices. Together these
sensors provide 6 component motion sensing; acceleration for X,Y, and Z movement, and
gyroscopes for measuring the extent and rate of rotation in space (roll, pitch and yaw).

Properties

A gyroscope in operation with freedom in all three axes. The rotor will maintain its spin axis
direction regardless of the orientation of the outer frame.
A gyroscope exhibits a number of behaviors including precession and nutation. Gyroscopes
can be used to construct gyrocompasses, which complement or replace magnetic compasses
(in ships, aircraft and spacecraft, vehicles in general), to assist in stability (Hubble Space
Telescope, bicycles, motorcycles, and ships) or be used as part of an inertial guidance system.
Gyroscopic effects are used in tops, boomerangs, yo-yos, and Powerballs. Many other
rotating devices, such as flywheels, behave in the manner of a gyroscope, although the
gyroscopic effect is not being used.
The fundamental equation describing the behavior of the gyroscope is:

where the pseudovectors and L are, respectively, the torque on the gyroscope and its
angular momentum, the scalar I is its moment of inertia, the vector is its angular velocity,
and the vector is its angular acceleration.
It follows from this that a torque applied perpendicular to the axis of rotation, and therefore
perpendicular to L, results in a rotation about an axis perpendicular to both and L. This
motion is called precession. The angular velocity of precession P is given by the cross
product:

Precession on a gyroscope
Precession can be demonstrated by placing a spinning gyroscope with its axis horizontal and
supported loosely (frictionless toward precession) at one end. Instead of falling, as might be
expected, the gyroscope appears to defy gravity by remaining with its axis horizontal, when
the other end of the axis is left unsupported and the free end of the axis slowly describes a
circle in a horizontal plane, the resulting precession turning. This effect is explained by the
above equations. The torque on the gyroscope is supplied by a couple of forces: gravity
acting downward on the device's centre of mass, and an equal force acting upward to support
one end of the device. The rotation resulting from this torque is not downward, as might be
intuitively expected, causing the device to fall, but perpendicular to both the gravitational
torque (horizontal and perpendicular to the axis of rotation) and the axis of rotation
(horizontal and outwards from the point of support), i.e., about a vertical axis, causing the
device to rotate slowly about the supporting point.
Under a constant torque of magnitude , the gyroscope's speed of precession P is inversely
proportional to L, the magnitude of its angular momentum:

where is the angle between the vectors P and L. Thus, if the gyroscope's spin slows down
(for example, due to friction), its angular momentum decreases and so the rate of precession
increases. This continues until the device is unable to rotate fast enough to support its own
weight, when it stops precessing and falls off its support, mostly because friction against
precession cause another precession that goes to cause the fall.
By convention, these three vectors - torque, spin, and precession - are all oriented with
respect to each other according to the right-hand rule.
To easily ascertain the direction of gyro effect, simply remember that a rolling wheel tends,
when it leans to the side, to turn in the direction of the lean.

Variations
Gyrostat

A gyrostat is a variant of the gyroscope. It consists of a massive flywheel concealed in a

solid casing.[20][21] Its behaviour on a table, or with various modes of suspension or support,
serves to illustrate the curious reversal of the ordinary laws of static equilibrium due to the
gyrostatic behaviour of the interior invisible flywheel when rotated rapidly. The first gyrostat
was designed by Lord Kelvin to illustrate the more complicated state of motion of a spinning
body when free to wander about on a horizontal plane, like a top spun on the pavement, or a
hoop or bicycle on the road. Kelvin also made use of gyrostats to develop mechanical
theories of the elasticity of matter and of the ether;[22] these theories are of purely historical
interest today.
In modern times, the gyrostat concept is used in the design of attitude control systems for
orbiting spacecraft and satellites.[23] For instance, the Mir space station had three pairs of
internally mounted flywheels known as gyrodynes or control moment gyros.
In physics, there are several systems whose dynamical equations resemble the equations of
motion of a gyrostat.[24] Examples include a solid body with a cavity filled with an inviscid,
incompressible, homogeneous liquid,[25] the static equilibrium configuration of a stressed
elastic rod in elastica theory,[26] the polarization dynamics of a light pulse propagating
through a nonlinear medium,[27] the Lorenz system in chaos theory,[28] and the motion of an
ion in a Penning trap mass spectrometer.[29]

MEMS
A MEMS gyroscope takes the idea of the Foucault pendulum and uses a vibrating element,
known as a MEMS (Micro Electro-Mechanical System). The MEMS-based gyro was initially
made practical and producible by Systron Donner Inertial (SDI). Today, SDI is a large
manufacturer of MEMS gyroscopes.

FOG
A fiber optic gyroscope (FOG) is a gyroscope that uses the interference of light to detect
mechanical rotation. The sensor is a coil of as much as 5 km of optical fiber. The
development of low-loss single-mode optical fiber in the early 1970s for the
telecommunications industry enabled the development of Sagnac effect fiber optic gyros.

VSG or CVG
A vibrating structure gyroscope (VSG), also called a Coriolis Vibratory Gyroscope (CVG),[30]
uses a resonator made of different metallic alloys. It takes a position between the lowaccuracy, low-cost MEMS gyroscope and the higher-accuracy and higher-cost FOG.
Accuracy parameters are increased by using low-intrinsic damping materials, resonator
vacuumization, and digital electronics to reduce temperature dependent drift and instability of
control signals.[31]
High quality wine-glass resonators are used for precise sensors like HRG[32] or CRG.[33]

DTG

A dynamically tuned gyroscope (DTG) is a rotor suspended by a universal joint with flexure
pivots.[34] The flexure spring stiffness is independent of spin rate. However, the dynamic
inertia (from the gyroscopic reaction effect) from the gimbal provides negative spring
stiffness proportional to the square of the spin speed (Howe and Savet, 1964; Lawrence,
1998). Therefore, at a particular speed, called the tuning speed, the two moments cancel each
other, freeing the rotor from torque, a necessary condition for an ideal gyroscope.

London moment
A London moment gyroscope relies on the quantum-mechanical phenomenon, whereby a
spinning superconductor generates a magnetic field whose axis lines up exactly with the spin
axis of the gyroscopic rotor. A magnetometer determines the orientation of the generated
field, which is interpolated to determine the axis of rotation. Gyroscopes of this type can be
extremely accurate and stable. For example, those used in the Gravity Probe B experiment
measured changes in gyroscope spin axis orientation to better than 0.5 milliarcseconds
(1.4107 degrees) over a one-year period.[35] This is equivalent to an angular separation the
width of a human hair viewed from 32 kilometers (20 mi) away.[36]
The GP-B gyro consists of a nearly-perfect spherical rotating mass made of fused quartz,
which provides a dielectric support for a thin layer of niobium superconducting material. To
eliminate friction found in conventional bearings, the rotor assembly is centered by the
electric field from six electrodes. After the initial spin-up by a jet of helium which brings the
rotor to 4,000 RPM, the polished gyroscope housing is evacuated to an ultra-high vacuum to
further reduce drag on the rotor. Provided the suspension electronics remain powered, the
extreme rotational symmetry, lack of friction, and low drag will allow the angular momentum
of the rotor to keep it spinning for about 15,000 years.[37]
A sensitive DC SQUID magnetometer able to discriminate changes as small as one quantum,
or about 2 1015 Wb, is used to monitor the gyroscope. A precession, or tilt, in the orientation
of the rotor causes the London moment magnetic field to shift relative to the housing. The
moving field passes through a superconducting pickup loop fixed to the housing, inducing a
small electric current. The current produces a voltage across a shunt resistance, which is
resolved to spherical coordinates by a microprocessor. The system is designed to minimize
Lorentz torque on the rotor.[38]

Modern uses
Gyroscope tops are sold as a common toy.
Main article: Accelerometer#Consumer_electronics
In addition to being used in compasses, aircraft, computer pointing devices, etc., gyroscopes
have been introduced into consumer electronics. Since the gyroscope allows the calculation
of orientation and rotation, designers have incorporated them into modern technology. The
integration of the gyroscope has allowed for more accurate recognition of movement within a
3D space than the previous lone accelerometer within a number of smartphones. Gyroscopes
in consumer electronics are frequently combined with accelerometers (acceleration sensors)
for more robust direction- and motion-sensing.

Examples of Gyroscope in consumer electronics include HTC Titan,[39] Nexus 4, iPhone 4,[40]
Nokia 808 PureView,[41] PlayStation 3 controller, Wii Remote,Sony Xperia etc.
Nintendo has integrated a gyroscope into the Wii console's Wii Remote controller by an
additional piece of hardware called "Wii MotionPlus".[42] It is also included in the 3DS, which
detects movement when turning.
Cruise ships use gyroscopes to level motion-sensitive devices such as self-leveling pool
tables.
Described as a "motorbike-car" hybrid, the Lit Motors C-1 two wheeler uses a set of futuristic
electronic gyroscopes, or control momentum gyroscopes, to ensure it remains upright and
balanced, similar to the positioning technology used in the International Space Station and the
Hubble Space Telescope. The only similarities the Lit C-1 shares with the Segway is an IMU.
A similar device has been used in the RYNO and Honda UX3 monocycles.
An electric powered flywheel gyroscope inserted in a bicycle wheel is being sold as a training
wheel replacement.

Prinsip kerja giroskop, pada dasarnya merupakan prinsip kelestarian momentum

sudut. Satu dari beberapa hukum dasar mengenai kelestarian energi. Jika suatu
giroskop berputar, maka ia mempunyai vektor arah dan kecepatan. Sekali ia
berputar, maka gangguan dari luar hanya akan mempengaruhi sementara, lalu
giroskop menyeimbangkan dirinya kembali. Hanya pada prakteknya kelestarian
energi ini tidak berlaku karena terdapat friksi pada bantalan girioskop.
Efek giroskop bisa dijelaskan seperti berikut. Jika ada suatu benda memiliki
momen pada satu arah tertentu dan ada momen gangguan datang(momen
kedua), maka akan muncul (efek) momen ketiga yang akan menyeimbangkan,
sehingga benda tetap pada kondisi semula.

Contohnya pada motor. Jika bos duduk pada motor yang diam, saya yakin se-ahli
apapun bos berusaha menjaga keseimbangan, kemungkinan besar akan terjatuh.
Lain halnya jika motor berjalan. Motor memiliki momen yang diberikan oleh roda.
Sekarang jika bos Andri membonceng teman, dan teman menggoyangkan diri ke
kiri dan ke kanan(momen gangguan), maka sekalipun dibiarkan akan ada (efek)
momen ketiga yang menyeimbangkan.
Tambahan, tidak semua efek giroskop bermanfaat, pada peluru kendali yang
berputar, efek giroskop akan memberikan gaya yang mempersulit manuver
belokan. Efek ini bisa dirasakan ketika bos naik motor. Ketika berbelok,
katakanlah ke kiri, pengendara kebanyakan secara tidak sadar mengayunngayunkan motor kekiri, karena secara periodik akibat adanya kecepatan sudut
perkusi (p), maka motor terangkat ke kanan, karena itu harus terus di lawan.
Kecepatan sudut kembali pada posisi awal/kecepatan sudut perkusi(p, CMIWW)
bisa dicari pada literatur dinamika. Satu contohnya, selain referensi dari bos
Munib, adalah "Dinamika Permesinan" (Dynamic of Machinary) karangan
Holowenko, pada bab paling terakhir.