# Learn Multibody Dynamics¶

This online book aims to teach multibody dynamics using interactive code woven into the text. It follows the organization and methods presented in [Kane1985] and can be thought of a retelling of many topics in the book. Each page can be downloaded as a Python script or Jupyter Notebook. The book is also available in PDF format. This book is used primarily as a companion resource for TU Delft’s Multibody Dynamics B course taught by Jason K. Moore but it is designed to standalone from the course.

Warning

Check back weekly for updates!

This website is continously updated. Chapters will be updated, subtracted, and added as the current TU Delft Multibody Dynamics course progresses from February 2023 to July 2023. We release fixed versions each year after the course concludes.

Version 0.1: Final version from the 2022 course.

- Introduction
- License
- Install the Software
- Jupyter and Python
- SymPy
- Orientation of Reference Frames
- Vectors
- Vector Differentiation
- Angular Kinematics
- Translational Kinematics
- Holonomic Constraints
- Nonholonomic Constraints
- Mass Distribution
- Force, Moment, and Torque
- Generalized Forces
- Unconstrained Equations of Motion
- Simulation and Visualization
- Three Dimensional Visualization
- Equations of Motion with Nonholonomic Constraints
- Equations of Motion with Holonomic Constraints
- Exposing Noncontributing Forces
- Energy and Power
- Equations of Motion with the Lagrange Method
- Unconstrained Equations of Motion with the TMT Method
- Notation
- General
- Orientation of Reference Frames
- Vectors and Vector Differentiation
- Angular and Translational Kinematics
- Constraints
- Mass Distribution
- Force, Moment, and Torque
- Generalized Forces
- Unconstrained Equations of Motion
- Equations of Motion with Nonholonomic Constraints
- Equations of Motion with Holonomic Constraints
- Energy and Power
- Lagrange’s method

- References

## 2023 Lecture Video Playlist¶

There are companion lecture videos that align with many of the chapters. The 2023 YouTube playlist is shown below:

## 2022 Lecture Video Playlist¶

There are companion lecture videos that align with many of the chapters. The 2022 YouTube playlist is shown below: