ERRATA. COMPUTER-AIDED ANALYSIS OF MECHANICAL SYSTEMS Parviz E. Nikravesh Prentice-Hall, (Corrections as of November 2014)

Transcription

1 ERRATA COMPUTER-AIDED ANALYSIS OF MECHANICAL SYSTEMS Parvz E. Nkravesh Prentce-Hall, 1988 (Correctons as of November 2014 Address to an error s gven n the frst column by the page number and n the second column by a lne number, or a fgure number, or an equaton number. For example: lne 2 means the second lne from the top of the page; lne 3 means the thrd lne from the bottom of the page; Eq. 2.30, +2 means the second lne followng Eq. 2.30; Eq. 6.48, lne 1 means the frst lne n Eq Page Lne, Fg., Error Correcton 10 Eq. 1.6 correct to: (r 2 + l 2 + s 2 d 2 2rlcosφ 2lscosθ 1 + 2rscos(φ +θ 1 Eq. 1.7 correct to: (r 2 + l 2 s 2 d 2 2rlcosφ + 2dscosθ 2 11, 12 Fgs. 1.12, 1.13, 1.14 The lnk lengths are: crank = r, coupler = d, follower = s, frame = l 12 Eq. 1.12, 4 th lne d 2 snφ 2 + d 2 snφ 2 23 Eq. 2.30, +3 a a 25 Eq. 2.33, +1 Eq correct to: where I s a 3 x 3 dentty matrx. The Eq α a α a 29 lne 2 = c = c 2 30 Ex. 2.5, +4 6x 2 x 4 6x 2 x 4 32 Eq. 2.75, -2 n-vector 3-vector Eq. 2.75, +1 n x m matrx 3 x m matrx 34 Prob make the followng correctons: cosφ snφ x 2 x 1 A = snφ cosφ 0 c 1 = 0.5 c 2 = 0.8 d = y 2 y Eq. 3.4, +5 m = 4 x 3 = 12 m = 6 x 2 = Fg. 3.9 l 3 = 3 m l 3.3 m Eq. a v v footnote, lne 1 [u t,v t ] [u T,v T ] 48 lne 3 φ 3 = 5.39 φ 3 = Eq. 3.15, 1 st ( q ( q Eq. 3.15, 2 nd ( + ( q q + ( + ( q q + 60 last equaton ERRATA (Computer-Aded Analyss of Mechancal Systems Page 1

2 67 Fg nfecton nflecton 69 Ex. 3.13, +2 Φ 2 φ 2 Ex. 3.13, +2 Φ 1 φ 1 Ex. 3.13, +7 [Φ 2,d] T [φ 2,d] T Ex. 3.13, +8 [Φ 1 ] [φ 1 ] Φ 1 Φ 1 Eq. 5 Φ 2 Φ 2 70 lne 11 move the thck lne from before the table to below the table 2 nd row n the table lne 2 r.. r lne 3 r.. r lne 7, crcled 2 ξ P snφ + η P cosφ ξ P snφ η P cosφ 109 Eq. f, lne 3 Φ 3 Φ 1 Φ 3 φ lne 5 (y 1 100snφ 1 (y 1 lne 22, crcled 30 (x 1 100cosφ 1 (x 1 replace the statement for crcled 30 wth: crcled 7, crcled 11, crcled 21, crcled 25, crcled 30 lne 25, crcled 33 (y 1 100snφ 1 (y 1 (x 1 100cosφ 1 (x before last parag. redundant data (t could be removed 127 Sub. INPOIN, +6 centrod orgn 133 Sub. SMPL, +4 NG>0 and NS>0 NG>0 or NS>0 141 top lne Program Expanson Problems 143 top lne Program Expanson Problems 145 top lne Program Expanson Problems 147 top lne Program Expanson Problems 149 top lne Program Expanson Problems 151 top lne Program Expanson Problems 154 Fg. 6.2 z s mssng on the axs 155 lne 11 ( u (z u (z 158 Fg. 6.4 replace wth the followng fgure 160 Eq e T e T ERRATA (Computer-Aded Analyss of Mechancal Systems Page 2

3 u ζ = = u ζ = = A = A = p = [0.810, 0.029, 0.543, 0.191] T p = [0.810, , 0.543, 0.191] T 168 Eq. 6.48, lne 1 e T e T e + e 0 I e + e 0 I 171 Eq. b p. p lne 4 + = a p + = a p 174 footnote, +2 (s' P ( s ' P 175 Eq , G p + 2G p 176 last equaton S s 178 Eq , lne 1 e 0 e 0 e e 181 PROBLEMS, -2 mssng Eq. # ω = ω + ω ( Eq. 5, +1 Eqs. 6.73, 6.54, Eqs. 6.73, 6.55, 202 Ex. 7.3, last equaton G L G L (correct twce 203 TABLE 7.2 col. 3, row 5 s' s ' col. 5, row 3 B s' B s ' col. 6, row 3 s T (h B h B s T (h B h B col. 6, row 5 s (h B h B s (h B h B col. 6, row 7 2d T (h P h P 2d T (h P h P 206 top fgure mssng capton Fgure P Eq. (a, -1 body partcle 210 Fg. 8.2 f p f p 213 lne 4 n O = n O = lne 6 n = s A f + s B ( f n = s A f + s B ( f 216 Eq. P r P r 219 Eq. 8.27, lne 3 subscrpt (v for the ntegral s mssng 223 parag. 2, +6 h = [ r T T,ω'] h = [ r T,ω' T T ] 229 lne 5 s P P = A s' s P P = A s' 250 Prob. 9.7 (c 0.05, determne 0.05 (other veloctes are zero, determne Prob. 9.7 add the followng: (e Fnd the acceleratons n ths confguraton. Prob. 9.8 (d add to the end: (let x 1 = y 1 = y 2 ERRATA (Computer-Aded Analyss of Mechancal Systems Page 3

4 256 lne 20 correct to: C..N must be greater than or equal to M 257 M10, Length N N + M T M Φ q M10, Descrpton Φ q Φ q lne 9, ETA, P-J, ETA-P-J Sub. TRANSF, Sec , Sec Followng Sub. TRIG, before Sub. MASS mssng statement for Sub. MASS (add the followng: Subroutne MASS. Ths subroutne generates the square matrx to the left of Eq contanng the mass and the moment of nerta for each body, the Jacoban matrx and ts transpose. Subroutne MASS s as follows: 263 Sub. FUNCT Sec Sec Sub. RVLT Sec Sec Sub. TRAN Sec Sec Sub. SMPL Sec Sec lne 6 data 1,2,0,-1,0 1,2,0,0,-1,0 275 lne 14 2,3,-.38 2,3,-.38,0,0 276 lne Prob , lne 3, as can that, as that 286 last lne axal radal 289 lne 7 n lne 5 n n' n' 290 Eq. (b lne 1 δ(a s' (A s' δp p lne 5 p T p 1 p T p Eq ω ' 1 J' 1 ω ' ω ' 1 J' 1 ω' Eq. 3 + ( s T s ω ' + + ( s T s ω ' + followng Eq. 4 a thck lne s needed parag. followng Eq. 4 the paragraph should not be ndented TABLE 11.1 col. 6, row 6 2d T d + 2 d T d + followng Table 11.1 remove the thck lne Prob Eq Eq Fg. P.11.7 the vecor for n 2 should be a thck lne 302 Eq ε = y(t y ε = y(t y 311 Eq Δy +1 = I b 1 Δy +1 = I hb lne before footnote tme t o to a fnal tme t 0 to a fnal 316 lne 7 Method 1. Method I. 333 parag. 3, +3 the for of the form of 334 lne (a.3 θ θ ERRATA (Computer-Aded Analyss of Mechancal Systems Page 4

5 352 Eq. A.7 cosφ 1 cosφ 3 cosφ 2 cosφ Ref. 15 Wehave Wehage 368 Sparse matrx 100, , 144 ERRATA (Computer-Aded Analyss of Mechancal Systems Page 5