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(cid:2) DYNAMICS OF PARTICLES AND RIGID BODIES (cid:2) (cid:2) (cid:2) (cid:2) Wiley-ASMEPressSeriesList DynamicsofParticlesandRigidBodies–A Daqaq July2018 Self-LearningApproach StressinASMEPressureVessels,Boilers,and Jawad October2017 NuclearComponents RobustAdaptiveControlforFractional-Order Shi November2017 SystemswithDisturbanceandSaturation RobotManipulatorRedundancyResolution Zhang October2017 CombinedCooling,Heating,andPowerSystems: Shi August2017 Modeling,Optimization,andOperation ApplicationsofMathematicalHeatTransferand Dorfman February2017 FluidFlowModelsinEngineeringandMedicine BioprocessingPipingandEquipmentDesign:A Huitt December2016 CompanionGuidefortheASMEBPEStandard NonlinearRegressionModelingforEngineering Rhinehart September2016 Applications (cid:2) FundamentalsofMechanicalVibrations Cai May2016 (cid:2) IntroductiontoDynamicsandControlofMechanical To March2016 EngineeringSystems (cid:2) (cid:2) DYNAMICS OF PARTICLES AND RIGID BODIES A SELF-LEARNING APPROACH MohammedF.Daqaq GlobalNetworkAssociateProfessor (cid:2) DivisionofEngineering (cid:2) NewYorkUniversity,AbuDhabi AffiliateAssociateProfessor TandonSchoolofEngineering,NewYorkUniversity,NY. ThisWorkisaco-publicationbetweenASMEPressandJohnWiley&SonsLtd. (cid:2) (cid:2) Thiseditionfirstpublished2019 ©2019JohnWiley&SonsLtd Allrightsreserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmitted,inany formorbyanymeans,electronic,mechanical,photocopying,recordingorotherwise,exceptaspermittedbylaw. Adviceonhowtoobtainpermissiontoreusematerialfromthistitleisavailableathttp://www.wiley.com/go/ permissions. TherightofMohammedF.Daqaqtobeidentifiedastheauthorofthisworkhasbeenassertedinaccordance withlaw. RegisteredOffices JohnWiley&Sons,Inc.,111RiverStreet,Hoboken,NJ07030,USA JohnWiley&SonsLtd,TheAtrium,SouthernGate,Chichester,WestSussex,PO198SQ,UK EditorialOffice TheAtrium,SouthernGate,Chichester,WestSussex,PO198SQ,UK Fordetailsofourglobaleditorialoffices,customerservices,andmoreinformationaboutWileyproductsvisitusat www.wiley.com. Wileyalsopublishesitsbooksinavarietyofelectronicformatsandbyprint-on-demand.Somecontentthatappears instandardprintversionsofthisbookmaynotbeavailableinotherformats. LimitofLiability/DisclaimerofWarranty Whilethepublisherandauthorshaveusedtheirbesteffortsinpreparingthiswork,theymakenorepresentationsor warrantieswithrespecttotheaccuracyorcompletenessofthecontentsofthisworkandspecificallydisclaimall warranties,includingwithoutlimitationanyimpliedwarrantiesofmerchantabilityorfitnessforaparticularpurpose. Nowarrantymaybecreatedorextendedbysalesrepresentatives,writtensalesmaterialsorpromotionalstatements forthiswork.Thefactthatanorganization,website,orproductisreferredtointhisworkasacitationand/or potentialsourceoffurtherinformationdoesnotmeanthatthepublisherandauthorsendorsetheinformationor (cid:2) (cid:2) servicestheorganization,website,orproductmayprovideorrecommendationsitmaymake.Thisworkissoldwith theunderstandingthatthepublisherisnotengagedinrenderingprofessionalservices.Theadviceandstrategies containedhereinmaynotbesuitableforyoursituation.Youshouldconsultwithaspecialistwhereappropriate. Further,readersshouldbeawarethatwebsiteslistedinthisworkmayhavechangedordisappearedbetweenwhen thisworkwaswrittenandwhenitisread.Neitherthepublishernorauthorsshallbeliableforanylossofprofitor anyothercommercialdamages,includingbutnotlimitedtospecial,incidental,consequential,orotherdamages. LibraryofCongressCataloging-in-PublicationData: Names:Daqaq,MohammedF.,1979-author. Title:Dynamicsofparticlesandrigidbodies:aself-learningapproach/by MohammedF.Daqaq. Description:Firstedition. | Hoboken,NJ:JohnWiley&Sons,2018. | Series:Wiley-ASMEPressSeries | Includesbibliographicalreferencesand index. | Identifiers:LCCN2018012505(print) | LCCN2018023172(ebook) | ISBN 9781119463184(pdf) | ISBN9781119463191(epub) | ISBN9781119463146(pbk.) Subjects:LCSH:Dynamics,Rigid. | Dynamicsofaparticle. Classification:LCCQA861(ebook) | LCCQA861.D372018(print) | DDC 531/.11–dc23 LCrecordavailableathttps://lccn.loc.gov/2018012505 CoverDesign:Wiley CoverImage:CourtesyofHyperloopOne Setin10/12ptTimesLTStdbySPiGlobal,Chennai,India 10 9 8 7 6 5 4 3 2 1 (cid:2) (cid:2) To Farid, Hana, Shaima, Rayyan and Laith... (cid:2) (cid:2) (cid:2) (cid:2) (cid:2) (cid:2) (cid:2) Contents in Brief 1 KinematicsofParticles 1 2 DynamicsofParticles:VectorialApproach 27 3 DynamicsofRigidBodies:VectorialApproach 55 4 SystemConstraintsandVirtualDisplacement 103 5 DynamicsofParticles:AnalyticalApproach 117 6 DynamicsofRigidBodies:AnalyticalApproach 161 7 Momentum 183 8 MotionofChargedBodiesinanElectricField 227 9 IntroductiontoAnalysisTools 285 Index 327

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(cid:2) DYNAMICS OF PARTICLES AND RIGID BODIES (cid:2) (cid:2) (cid:2) (cid:2) Wiley-ASMEPressSeriesList DynamicsofParticlesandRigidBodies–A Daqaq July2018 Self-LearningApproach StressinASMEPressureVessels,Boilers,and Jawad October2017 NuclearComponents RobustAdaptiveControlforFractional-Order Shi November2017 SystemswithDisturbanceandSaturation RobotManipulatorRedundancyResolution Zhang October2017 CombinedCooling,Heating,andPowerSystems: Shi August2017 Modeling,Optimization,andOperation ApplicationsofMathematicalHeatTransferand Dorfman February2017 FluidFlowModelsinEngineeringandMedicine BioprocessingPipingandEquipmentDesign:A Huitt December2016 CompanionGuidefortheASMEBPEStandard NonlinearRegressionModelingforEngineering Rhinehart September2016 Applications (cid:2) FundamentalsofMechanicalVibrations Cai May2016 (cid:2) IntroductiontoDynamicsandControlofMechanical To March2016 EngineeringSystems (cid:2) (cid:2) DYNAMICS OF PARTICLES AND RIGID BODIES A SELF-LEARNING APPROACH MohammedF.Daqaq GlobalNetworkAssociateProfessor (cid:2) DivisionofEngineering (cid:2) NewYorkUniversity,AbuDhabi AffiliateAssociateProfessor TandonSchoolofEngineering,NewYorkUniversity,NY. ThisWorkisaco-publicationbetweenASMEPressandJohnWiley&SonsLtd. (cid:2) (cid:2) Thiseditionfirstpublished2019 ©2019JohnWiley&SonsLtd Allrightsreserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmitted,inany formorbyanymeans,electronic,mechanical,photocopying,recordingorotherwise,exceptaspermittedbylaw. Adviceonhowtoobtainpermissiontoreusematerialfromthistitleisavailableathttp://www.wiley.com/go/ permissions. TherightofMohammedF.Daqaqtobeidentifiedastheauthorofthisworkhasbeenassertedinaccordance withlaw. RegisteredOffices JohnWiley&Sons,Inc.,111RiverStreet,Hoboken,NJ07030,USA JohnWiley&SonsLtd,TheAtrium,SouthernGate,Chichester,WestSussex,PO198SQ,UK EditorialOffice TheAtrium,SouthernGate,Chichester,WestSussex,PO198SQ,UK Fordetailsofourglobaleditorialoffices,customerservices,andmoreinformationaboutWileyproductsvisitusat www.wiley.com. Wileyalsopublishesitsbooksinavarietyofelectronicformatsandbyprint-on-demand.Somecontentthatappears instandardprintversionsofthisbookmaynotbeavailableinotherformats. LimitofLiability/DisclaimerofWarranty Whilethepublisherandauthorshaveusedtheirbesteffortsinpreparingthiswork,theymakenorepresentationsor warrantieswithrespecttotheaccuracyorcompletenessofthecontentsofthisworkandspecificallydisclaimall warranties,includingwithoutlimitationanyimpliedwarrantiesofmerchantabilityorfitnessforaparticularpurpose. Nowarrantymaybecreatedorextendedbysalesrepresentatives,writtensalesmaterialsorpromotionalstatements forthiswork.Thefactthatanorganization,website,orproductisreferredtointhisworkasacitationand/or potentialsourceoffurtherinformationdoesnotmeanthatthepublisherandauthorsendorsetheinformationor (cid:2) (cid:2) servicestheorganization,website,orproductmayprovideorrecommendationsitmaymake.Thisworkissoldwith theunderstandingthatthepublisherisnotengagedinrenderingprofessionalservices.Theadviceandstrategies containedhereinmaynotbesuitableforyoursituation.Youshouldconsultwithaspecialistwhereappropriate. Further,readersshouldbeawarethatwebsiteslistedinthisworkmayhavechangedordisappearedbetweenwhen thisworkwaswrittenandwhenitisread.Neitherthepublishernorauthorsshallbeliableforanylossofprofitor anyothercommercialdamages,includingbutnotlimitedtospecial,incidental,consequential,orotherdamages. LibraryofCongressCataloging-in-PublicationData: Names:Daqaq,MohammedF.,1979-author. Title:Dynamicsofparticlesandrigidbodies:aself-learningapproach/by MohammedF.Daqaq. Description:Firstedition. | Hoboken,NJ:JohnWiley&Sons,2018. | Series:Wiley-ASMEPressSeries | Includesbibliographicalreferencesand index. | Identifiers:LCCN2018012505(print) | LCCN2018023172(ebook) | ISBN 9781119463184(pdf) | ISBN9781119463191(epub) | ISBN9781119463146(pbk.) Subjects:LCSH:Dynamics,Rigid. | Dynamicsofaparticle. Classification:LCCQA861(ebook) | LCCQA861.D372018(print) | DDC 531/.11–dc23 LCrecordavailableathttps://lccn.loc.gov/2018012505 CoverDesign:Wiley CoverImage:CourtesyofHyperloopOne Setin10/12ptTimesLTStdbySPiGlobal,Chennai,India 10 9 8 7 6 5 4 3 2 1 (cid:2) (cid:2) To Farid, Hana, Shaima, Rayyan and Laith... (cid:2) (cid:2) (cid:2) (cid:2) (cid:2) (cid:2) (cid:2) Contents in Brief 1 KinematicsofParticles 1 2 DynamicsofParticles:VectorialApproach 27 3 DynamicsofRigidBodies:VectorialApproach 55 4 SystemConstraintsandVirtualDisplacement 103 5 DynamicsofParticles:AnalyticalApproach 117 6 DynamicsofRigidBodies:AnalyticalApproach 161 7 Momentum 183 8 MotionofChargedBodiesinanElectricField 227 9 IntroductiontoAnalysisTools 285 Index 327

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