Engineering Dynamics Jerry H.

Ginsberg
Errata to the First Printing. Prepared September 9, 2008
This is the second version of an errata for Engineering Dynamics. Corrections reported here will be incorporated into the second printing of the book. If you nd additional corrections, please inform J. H. Ginsberg at jerry.ginsberg@me.gatech.edu. Thank you. Pg. 15, eq. (1.2.3): F = ML/T2 Pg. 16, eq. (1.2.7): g = 9.807 m/s2 Pg. 16, eq. (1.2.8): g = 32.17 ft/s2 or g = 386.0 m/s2 Pg. 31, third line after eq. (2.1.1): ... path. Hence, it is one of the path variables. Pg. 43, rst line: s0 ( P ) = 1.1562. Substitution ... Pg. 43, rst set of equations: en = 0.6795i + 0.5141 + 0.0058k j = 1.500 m Pg. 43, second set of equations: a = 53.88i + 22.79 + 14.32k m/s2 j Pg. 49, eq. (4): Fix unknown vector: 0 0 1 x 0.16t 1 10y 0 y 0 = 0 x y 9z z

Pg. 61, eq. (2.3.24), fourth line: delete the unit vector er in the second bracket, that is: r r e e e e e = rer + r + + r + r + r e + Pg. 63, second line from bottom: F = 38.20 N, Pg. 69, eq. (2.3.50): ... = h + ... e

Pg. 70, eq. (2.3.53): index for the third sum should be , that is: X X e h e + h ... + =,, =,, Pg. 72, sixth equation line from bottom: Delete R : e = sin () i + cos () j Pg. 72, fourth equation line from bottom: R e 1 hR 1 hR = e ez = 0 R h hz z Pg. 73, second equation line from top: z e 1 h = e = 0 hz z Pg. 76, Example 2.11, rst line: Change M to lower case: ... of a mixed kinematical ... Pg. 88, bottom of page, gure for Exercise 2.45: Label the pivot as A and the upper end of the rotating arm as B. Pg. 89, Exercise 2.46, second line from bottom: ... values of r, r, , , ... Pg. 104, rst line after eq. (3.1.29): ... treated [Rx ] and [Rz ] as ... (i.e. lower case subscripts) Pg. 111, rst equation: 0.1059 0.1789 0.9782 0.8671 1.4980 0.0028 =
Z0X Z0Y Z0Z

0 0

Pg. 111, second equation: 0.8941 0.1789 0.8671 1.4980

Z0X Z0Y

0.9782 0.0028

Z0Z Z0Z

Pg. 117, last equation in Example 3.5: r B I 0.2010 0.2010 B J r 0.3354 0.3354 = [R]T = m f B K r 0.6708 0.6708 Pg. 121, second line after eq. (3.3.7): ...dened by Eq. (3.3.7). This ...

Pg. 124, third equation: r B I 13.42 B J r 11.16 = mm B K r 0

Pg. 127, last line: ... general, a specic auxiliary ...

Pg. 138, second equation line from bottom: i h 2 j = L2 cos L2 sin (L1 + L2 cos ) 2 i + 2L2 sin Pg. 144, rst equation line: Close space: v vP = vG + (P )xyz + rP/G Pg. 146, mid-page, last line of answer for vP : j = R sin sin i + L cos sin + R cos R L sin sin k Pg. 148, paragraph following Figure 3.12, line 8: ... radius, re = 6370 km. Pg. 148, paragraph following Figure 3.12, line 9: ... rotation is 2 re 0.034 m/s2 e Pg. 149, second line after eq. (3.6.3): ...path is re cos , and ... Pg. 150, second line above eq. (3.6.8): ...to approximate sin ( + ) sin in the ...

Pg. 151, paragraph preceding Example 3.15, second line: ... required by Eqs. (3.6.9), then the ...

Pg. 171, Exercise 3.56. The labels A and B were confused. The problem statement should have been: Airplane A travels eastward at constant speed vA = 560 km/hr, while airplane B executes a constant radius turn, = 3.2 km, in the horizontal plane at constant speed vB = 1440 km/hr. At t = 0 the angle locating airplane B was zero, and sA at that instant was 5.2 km. Radar equipment on aircraft B can measure ... Pg. 179, last full line preceding eq. (4.2.7) ... obtained by premultiplication, according ... Pg. 189, eq. (4.3.11): vA = vB + AB rA/B Pg. 200, eqs. (12): First line is incorrect and lines should be re-aligned: 1 = 2 sin cos 1 , 1 sin 2 sin = 2 , 1 (cos 1 cos 2 + sin 1 sin 2 cos ) = 2 [cos (cos 1 cos 2 + sin 1 sin 2 cos ) sin ( sin 1 sin 2 sin )] 2 (cos cos 1 cos 2 + sin 1 sin 2 ) .

vA = vB + AB rA/B Pg. 200, answer for : = 1 I1 + sin cos cos 1 cos 1 J1 sin 1 K1 (sin 1 )2 + (cos cos 1 )2

Pg. 206, rst line after eq. (4.4.17): The angular acceleration is given by the second ... Pg. 209, rst gure: Swap labels C and D, so that the pin is C. Pg. 219, Exercise 4.13, fourth line: ... and when = 120o . Pg. 230, eq. (5.1.8): symbol in second sum should be rj/O , that is: N ! N N X X d2 d2 X mj 2 rj/O = 2 mj rj/O F = Fj = dt dt j=1 j=1 j=1 Pg. 238, rst line of last equation: Delete overbar on 1 : dHC = 1 2mR2 2 (sin ) (cos ) 0 + 2mR2 2 (sin )2 k0 j Mshaft = dt

Pg. 241, Figure 5.3, caption: ...relative to a moving xyz ....

Pg. 244, rst line above Example 5.2: regardless of its symmetry ... Pg. 244, third line of Example 5.2 statement: ... to determine HO . Pg. 244, third line of Example 5.2 solution: ... of change of HO . The two ... Pg. 244, third line from bottom of page: To evaluate HO we recall from ... Pg. 245, rst equation, rst line: HO = [2mR2 (1 ) ... Pg. 245, second, rst line: HO = 2mR2 10 ...

Pg. 245, change last sentence of Example 5.2: This is the same as the expression that would have been obtained if Example 5.1 had evaluated the moment of momenta relative to point O, rather than point C. Pg. 253, rst paragraph, third line: ... properties of other shapes Pgs 254-255, text between eq. (5.2.10) and eqs. (5.2.14): The following provides a fully vectorized derivation of the parallel axis theorems that is quite useful for software implementation. It also corrects an error in eqs. (5.2.14), where the subscripts in the second term of each equation should have had a prime: rB/G = xB i + yB + zB k j To proceed we invoke an identity for the vector triple product, a c ( c) c a , b b a b (5.2.10)

which changes Eq. (5.1.36) to HB = HG + m rB/G rB/G rB/G rB/G (5.2.11a)

Let the inertia properties with respect to the parallel coordinate systems xyz and x0 y 0 z be [IG ] and [IB ] , respectively. Then the matrix form of the preceding is h T T i {} (5.2.11b) [IB ] {} = [IG ] {} + m rB/G rB/G [U ] rB/G rB/G

where [U] is a 3 3 identity matrix and rB/G = [xB yB zB ]T . This relation must apply for any {} , so the factor of {} on each side of the equality must match. The result is the parallel axis transformation of inertia properties, h T T i [IB ] = [IG ] + m rB/G rB/G [U ] rB/G rB/G 2 2 xB zB (yB + zB ) xB yB (5.2.12) 2 = [IG ] + m xB yB (x2 + zB ) yB zB B 2 xB zB yB zB (x2 + yB ) B The rst form is useful for computer applications, while using the second form to match like elements yields the scalar transformations. The diagonal terms govern the moments of inertia, 2 2 Ix0 x0 = Ixx + m (yB + zB ) 2 Iy0 y0 = Iyy + m (x2 + zB ) (5.2.13) B 2 2 Iz0 z0 = Izz + m (xB + yB )

while the o-diagonal terms transform the products of inertia, Ix0 y0 = Iyx = Ixy + mxB yB Ix0 z0 = Izx = Ixz + mxB zB Iy0 z0 = Izy = Iyz + myB zB

(5.2.14)

Pg. 264, second line of Example 5.7: ... parallel to the orthogonal edges and ... Pg. 268, eq. (5.2.34), subscript for {e3 } : {e1 }T I1 0 0 0 I2 0 = {e2 }T [I] {e1 } {e2 } {e3 } 0 0 I3 {e3 }T

Pg. 275, eq. (5.3.1): Remove box highlighting the equation. Pg. 276, eq. (5.3.4): the overdot above the rst occurrence of HA needs to be centered. Pg. 280, rst equation: the overdot above HA needs to be centered.

Pg. 297, rst paragraph: fth and sixth lines: ... the angular momentum requires application of the required moment. The same is true for linear momentum. The ... Pg. 307, top of page: x answers for and k components of MA : j j I MA = mg (L sin ) = yy y (Izz Ixx ) x z 1 2 sin R + L2 =m 4 1 2 2 +m cos ( sin ) R L 4 A k = M sin + Mx0 cos = Izz z (Ixx Iyy ) x y M 1 2 2 =m + cos R +L 4 1 2 2 cos m R L 4 Pg. 312, second gure: Insert label G at center and show x axis = horizontal diameter and y axis = vertical diameter:

x' mg

y', y Ft

Fn N

z'

Free body diagram of the rolling disk

Pg. 314, paragraph following rst set of equations, rst line: ... unknown, so the moment Pg. 317, line following second equation: ... to xyz, so we need to express i in terms ... Pg. 318, rst equation: Change to in rst line and change sign in third line: n . o A = Ixx + (Iyy Izz ) sin cos (sin )2 + Ixz sin sin cos 2 i H + (Ixx Iyy ) cos sin cos + Ixz (cos )2 (cos )2 (sin )2 2 o 2 j + [(Ixx + Iyy Izz ) cos sin + 2Ixz cos ] + Ixz n + Ixz + (Ixx Iyy ) sin sin cos Ixz sin cos (sin )2 2 o k + [(Ixx Iyy + Izz ) sin sin ]

Pg. 318, last equation:

Pg. 320, eq. (6.2.3), second line:

0 sin {mg} = mg [R] = ... cos j MA = Iyz Ixz 2

Pg. 325, rst paragraph, second line: ... of the box has no obvious ... Pg. 329, eqs. (4), third line: MG k = F L L sin + NA cos .... 2 2

Pg. 337, eqs. (10), rst line: Insert comma before N2 to separate equations. Pg. 339, third paragraph. second line: ... of such forces are those generated ... Pg. 339, third paragraph. fth to fourth lines preceding eq. (6.4.2):... instantly from time t to time t+ , while the ... i i Pg. 345, eq. (6.4.16), both path integral symbols should have C rather than o: W12 Pg. 345, eq. (6.4.17): W12 = W21 Pg. 346, Eq. (6.4.20): Path integral should have C rather than o: Z 2 W12 = C mg K dX I + dY J + dZ K = ...
1

Z 2 Z 2 dB + C MB d = C F r
1 1

Pg. 347, Eq. (6.4.23), rst line: The path integral should have C rather than o, that is: Z 2 GmM W12 = C 2 er (drr + rd + rd sin ) ... e e e r 1 Pg. 348, eq. (6.4.34): The path integral should have C rather than o, that is Z 2 1 2 1 2 r m vG 2 = m vG 1 + C F dG 2 2 1 Pg. 350, eq. (6.4.39), delete the path integral symbol: P
nc N X j=1

nc Fjnc vj = F nc vB + MB

Pg. 353, fth line after gure: ... diagram exert any moment about ... Pg. 353, rst line after eq. (1): The angular velocity of these bodies is the sum of the ... Pg. 358, fourth equation from top of page, second line: Insert 103 factor preceding rad/s: = [17.920321 23.868431 40000]T 103 rad/s

Pg. 359, fourth line from bottom of page: Delete clause at end of rst sentence: ... to change simultaneously. This is a fundamental ...

Pg. 362, third paragraph, replace sentence preceding eq. (6.4.44): ... in Eqs. (6.4.40). Also, because the centers of mass and the contact point lie in the xy plane for planar motion, only the k components of the cross products of the moments of F about points A and B are required. They are given by Pg. 362, eq. (6.4.44): Delete condition for equation to apply, that is: k r F i F r k = F r j Pg. 365, eq. (6.4.53): Insert unit vector after F, that is: v (CA )0 i (CB )0 i v f = k F i (CA ) i (CB ) i v v 0 0

Pg. 363, rst line after eq. (6.4.50): In view of Eq. (6.4.42), the velocity ...

Pg. 395, last line: the is repeated.

Pg. 404, second line preceding Figure 7.6: .. then a13 g1 = 0 = f1 /. This ... Pg. 406, Solution to Example 7.2, fth line: ... we dene q1 = XB , q2 = YB , .... Pg. 411, rst paragraph after Figure 7.9, fth line: ... is tangent to the constraint surface at the instant ... Pg. 420, eq. (7.3.8), rst line: All subscripts P should be capitalized. Pg. 420, rst paragraph following indented text in italics, fourth line: ... ... + r sin . e There is no vP t term ... Pg. 427, second line after eq. (7.4.6): ... couples allows us to collect ... Pg. 434, Figure 7.10 (a): Change label to . Pg. 438, seventh line after second gure: Delete second i : ... we have f = f i, with f = k N sgn vC i . As we ... Pg. 443, fourth text line from bottom of page: ... to W of F proceeds in ... Pg. 443, last text line: ... Rj in Eqs. (7) gives Pg. 445, Example 7.12, fourth line of problem statement: ... corresponding to being the ...
(1)

Pg. 447, second line after eq. (7.5.3): ... partial derivatives n /qj depend ... (that is, r delete the dot above qj ). Pg. 452, midpage, line preceding equation for W : ... by , so the virtual work is d T at bottom of page: Insert overdot above : Pg. 460, fth line of equation for d ... + (mA + mr ) (sin ) x Pg. 460, second equation line from bottom of page: 2 T = (mA + mr ) 2 (cos sin ) + mr R sin + ... V = mgL cos Pg. 462, second equation from bottom of page: V = mgL sin Pg. 462, last equation: 2 2 sin = 0 I2 + mL I2 + mL I1 sin cos mgL + I1

Pg. 462, equation for V at midpage:

Pg. 465, rst equation rst line: Delete subscript from T Pg. 465, eq. (7), second line: +

Pg. 466, rst equation: d 0 d T 1 0 2 0 0 = I2 + I3 + I1 (sin ) I1 (sin ) (sin 2) dt dt 2 0 1 0 2 0 0 = I2 + I3 + I1 (sin ) I1 (sin ) (sin 2) 2 0 1 0 + [I1 (sin 2)] [I1 (cos ) (sin 2)] 2 0 [I1 (sin ) (cos 2)] Pg. 468, eq. (7.6.6): Insert 1/2 factor in second line after second equal sign: T2 1 PP 1 PP = Mjn (qj qn ) = Mjn ( sj qn + qj sn ) qs 2 j n qs 2 j n P 1P 1P 1P Msn qn + Mjs qj = (Msn + Mns ) qn = Msn qn = 2 n 2 j 2 n n

2 1 0 2 1 0 0 0 I2 + I3 + I1 (sin )2 + I1 ... 2 2

Pg. 475, gure at top of page: Fix legend: solid line is x, dashed line is xr , dot-dash line is xA Pg. 481, Exercise 7.24, last line: (k/m)1/2 = 20 rad/s, ... Pg. 497, sixth line: ... on the motion is = b2 , Pg. 498, second equation line from bottom: Insert H after g : 1 ... m1 + m2 gH sin 2 Pg. 505, eq. (3): vC = X I + Y J + Z K Pg. 505, set of eqations above eqs. (4): i = cos cos I + sin J sin K = sin I + cos J j = sin cos I + sin J + cos K k Pg. 509, eq. (8.2.3): d {z} = {G (zi , t)} dt Pg. 516, rst line after eq. (8.2.40): In view of Eq. (8.2.39), the result ... Pg. 522, rst full line above eq. (8.2.61): .. nonholonomic equations. Thus the ..... Pg. 533, eq. 6: Change G to lower case... Pg. 534, fourth line above gures: ... the initial value /2 0.010.) We also ... Pg. 535, second line after gure: puter models that do ... Pg. 539, rst equation after eqs. (4): vB = d rB/O = ... dt Pg. 533, last line: {q} = [0 0 0 /2 0.01 0]T , {q} = ...

Pg. 563, last equation: First term on right side needs a dx factor: t=t1 Z t1 Z L 0 T dt = [(w + vw ) w] dx + ...
t0 0 t=t0

Pg. 569, equation for V at bottom of page: Deleted exponent 2 inside integrand on rst line:

Pg. 570, fourth equation line from bottom of page: L qn + 2 F v 2 L n2 2 2 qn + v

N X j=1

Bjn qj ...

Pg. 570, second equation line from bottom of page: 2 2 N X L n F v 2 qn v qn = ... Gnk qk + 2 L 2 k=1 Pg. 575, rst full line above Example 9.3: ... done numerically by solving [M] {q} = {F } at ... Pg. 584, eq. (9.2.29), rst line: L = pn for n = K + 1, ..., N yields qn Pg. 585, eq. (9.2.34): d dt

< qj

< = Qj , j = 1, .., K qj

Pg. 586, rst paragraph, third line: ... so the slope Z 0 dZ/dR, so that Pg. 586, third equation from bottom of page: y = R cos

Pg. 586, second paragraph, third line: ... axis and y about the y axis. Therefore, ...

Pg. 587, second equation: Change 2 to R in last term on second line !2 R 7 2 2 2 7 2 2 m + m R + (cos ) 2T = 5 cos 5 5 2 2 4 + m (R + sin )2 + I (R2 + R sin ) 5 5 Pg. 592, second line after eq. (9.3.9): ... must be suitably selected if the virtual displacement is to be kinematicallly admissible. ... Pg. 593, rst line: ... are q1 = XB , q2 = YB , and ... Pg. 595, rst line: ... form in Eq. (9.3.9). We ... Pg. 604, eq. (4): aG = aC + 2 k rG/C 2 rG/C = ... 2

Pg. 607, second paragraph, third line: ... other forces of concern are the normal force exerted on the collar and the spring force. We ... Pg. 608, eq. (8), rst line: Insert a prime after : j ! 2 cos sin 0 2 cos 1 2 sin wheel = j + R cos R cos R (cos )2

Pg. 610, rst paragraph, line following second equation on the page: ... required to convert derivatives of V to generalized forces are ... Pg. 610, second paragraph, line following equation for vB : ... changing each dt to ... Pg. 611, line after eq. (10): The second Gibbs-Appell equation, S/ 2 = 2 , is Pg. 637, third line from top: ... a specied motion. In other situations the response ... Pg. 639, paragraph following eq. (10.1.8), fth line: ... is such that > and has the same sign as . (Cases ... Pg. 641, eq. (2): = tan Pg. 642, rst equation: = sin cos k = 0.18526 0.9827k j j j K = sin cos i + sin sin + cos k Pg. 643, eq. (10.1.11), second line: + cos + k Pg. 643, eq. (10.1.12), rst and third lines: k components should have cos , rather than cos , that is + HG = HG K = HG sin cos i sin sin + cos k j sin cos + sin i + I2 sin sin + cos = I1 j +I3 cos + k Pg. 643, equation at bottom of the page: 2 1/2 2 2 HG = I1 ( x )2 + I2 ( y )2 + I3 ( z )2 0 0 0 I3 cos + = HG cos Pg. 645, rst paragraph, sixth line: ... equations are identically satised ... Pg. 645, rst paragraph, seventh line: ... and = HG /I3 . Thus ...
1

I tan I0

= 10.68

Pg. 643, eq. (10.1.10), rst line:

Pg. 644, eq. (10.1.14), third line:

Pg. 645, eqs. (10.1.17), third line: h i I3 1 cos + + 3 = HG cos Pg. 656, second paragraph of Section 10.2, second line: nents Aj in orthogonal directions. ... Pg. 657, Figure 10.7: Origin of XY Z should be labeled as O. Pg. 659, third paragraph, sixth line: ... equivalently the smallest nutation angle. Similarly, ... Pg. 663, eq. (10.2.23): 2u = u df u = .... du

Pg. 664, rst line after eq. (10.2.29): ... results is that the precession rate ... Pg. 669, eq. (4), rst line M = sin sin (2t 2) i cos [1 + cos (2t 2)] j = I 1 2 sin cos + I sin g , I0 I0 2 Pg. 676, eq. (3): g , = 2 I cos + I = 0 1 I0 I0 2

Pg. 675, eq. (2), second line:

Pg. 676, eq. (4):

NOTE: A corrected list of answers is contained in a separate le: Answers List-version 2.pdf.