Notes for Advanced Dynamics
(MEAM535)
Chapter 0
Michael A. Carchidi
September 14, 2012
The Geometry of Rotations
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the purpose of teaching the contents covered

Free Particles, Forces and Newtons
Laws of Mechanics
Michael A. Carchidi
January 29, 2008
1. Introduction and Purpose
In this appendix we shall discuss Newtons three laws of motion, which are the
postulates of classical dynamics. Some basic ideas behind t

Lecture Notes for Advanced Dynamics
(MEAM535)
Chapter 3
Michael A. Carchidi
September 17, 2012
Constraints and Degrees of Freedom
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the purpose of teaching the

Lecture Notes for Advanced Dynamics
(MEAM535)
Chapter 10
Michael A. Carchidi
December 26, 2012
A Study of Small Perturbations and Linear Stability Analysis
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for th

Lecture Notes for Advanced Dynamics
(MEAM535)
Chapter 9
Michael A. Carchidi
December 24, 2012
Variational Calculus & Variational Principles In Physics
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the pur

Lecture Notes For Advanced Dynamics
(MEAM 535)
Appendix A
Michael A. Carchidi
July 16, 2008
A Geometric View Of Vectors
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the purpose of teaching the contents c

Lecture Notes for Advanced Dynamics
(MEAM535)
Chapter 4
Michael A. Carchidi
September 17, 2012
Generalized Coordinates and Speeds, Virtual Work, DAlemberts
Principle and Lagranges Equations of Motion
The following notes are written by Dr. Michael A. Carch

Lecture Notes for Advanced Dynamics
(MEAM535)
Chapter 8
Michael A. Carchidi
December 6, 2012
Kane-Langrange Equations And Computing Constraint Forces
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the purp

Lecture Notes for Advanced Dynamics
(MEAM535)
Chapter 2
Michael A. Carchidi
October 1, 2012
The Rotational Kinematics of Rigid Bodies
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the purpose of teaching

Lecture Notes For Advanced Dynamics
(MEAM 535)
Appendix B
Michael A. Carchidi
July 16, 2008
An Algebraic View Of Vectors
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the purpose of teaching the contents

Lecture Notes For Advanced Dynamics
(MEAM 535)
Appendix C
Michael A. Carchidi
July 16, 2008
Scalar and Vector Functions of a Single Scalar Variable
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the purpos

Lecture Notes For Advanced Dynamics
(MEAM 535)
Appendix E
Michael A. Carchidi
July 16, 2008
Free Particles, Forces and Newtons Laws of Mechanics
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the purpose o

Lecture Notes For Advanced Dynamics
(MEAM 535)
Appendix D
Michael A. Carchidi
July 16, 2008
The Kinematics Of Single-Particle Motion
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the purpose of teaching t

Lecture Notes for Advanced Dynamics
(MEAM535)
Chapter 5
Michael A. Carchidi
October 13, 2012
The Distribution of Inertia
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the purpose of teaching the contents

Lecture Notes for Advanced Dynamics
(MEAM535)
Chapter 7
Michael A. Carchidi
December 6, 2012
Kane-Lagrange Equations With Non-Holonomic Constraints
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the purpos

The Kinematics Of Particle Motion
Michael A. Carchidi
January 25, 2008
1. Introduction and Purpose: Reference Frames
In this note we shall investigate the kinematics of particle motion through twoor three-dimensional space and time. We assume throughout t

MEAM 211
Analysis of Simple Planar Linkages
Professor Vijay Kumar
Department of Mechanical Engineering and Applied Mechanics
University of Pennsylvania
January 15, 2006
1
Introduction
The goal of this section is to introduce the basic terminology and nota

A Review of the Geometric and
Algebraic Views Of Vectors
Michael A. Carchidi
January 25, 2008
A Geometric View Of Vectors
G.1 Introduction and Purpose
The purpose of this note is to review the denitions, notations and algebra associated with the study of

Momentum and Impulse
(Applications to Collisions)
Michael A. Carchidi
February 18, 2008
1. Newtons Second Law of Motion: Revisited
Recall that Newtons second law of motion, as applied to a single particle of
mass m, states: if F is the total force acting

The Motion of a Single Particle in One
Dimension
Michael A. Carchidi
January 18, 2008
1. Introduction and Purpose
In this note, we shall review how to describe and understand the motion of a
single particle in one spacial dimension. We use the term partic

Relative Motion
Michael A. Carchidi
January 29, 2008
1. Introduction and Purpose
In this note we shall discuss how the motion of a particle, when viewed from
one reference frame is related to the motion of the same particle, when viewed
from another refer

Lecture Notes for Advanced Dynamics
(MEAM535)
Chapter 1
Michael A. Carchidi
August 20, 2012
Some Introductory Remarks
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the purpose of teaching the contents cov

Rigid Bodies Undergoing
Three-Dimensional Motion
Michael A. Carchidi
September 29, 2008
1. Introduction to Three-Dimensional Analysis
A rigid body moving in three dimensions has 6 degrees of freedom. Three of
these involve the position of the rigid bodys

Work and Energy
(Single-Particle Motion)
Michael A. Carchidi
February 25, 2008
1. The Denition of Work
Throughout this note,we assume that all measurements are made with respect
to an inertial reference frame. Recall that an inertial reference frame is on

The Kinematics of Rigid-Bodies
Undergoing Planar Motion
Michael A. Carchidi
March 24, 2008
1. Rigid Bodies and Other Ideal Constructs in Dynamics
A particle is simply a geometric point in space that has nite mass but no
physical dimension. A body is dened

Systems of Particles
Michael A. Carchidi
March 10, 2008
1. Center-Of-Mass of a System of n Point Particles
Suppose that there is a system of n point particles of masses m1 , m2 , m3 ,
. . ., mn located at the positions r1 , r2 , r3 , . . ., rn , respectiv

Lecture Notes for Advanced Dynamics
(MEAM535)
Chapter 6
Michael A. Carchidi
November 11, 2012
Lagrangian/Hamiltonian Mechanics and Conservation Laws
The following notes are written by Dr. Michael A. Carchidi at the University
of Pennsylvania for the purpo

PART 2: Identifications
1. Menelik II; Ethiopianism; Treaty of Wichale (Ucciali) 1889
- Menelik II Emperor/King of Ethiopia helped led his people in the defeat of the
Italians in the Battle of Adwa in 1896 (also expanded Ethiopias territory
during his rei