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1-3 |
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Brief Review of 2.003 |
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Uniaxial motion, fixed-axis rotation; first and second order systems; natural and forced response; transfer functions, zeroes, poles; elementary control: open-loop, closed-loop; closing the loop alters the natural and forced response characteristics; stability and instability. |
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4-5 |
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Impulse Response |
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Collisions; conservation of momentum; conservation of energy; coefficient of restitution; bouncing ball in the presence of air drag. |
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6-9 |
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Plane-motion Kinematics of Rigid Bodies |
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Combined translation and rotation of rigid body; angular velocity; generalized coordinates; common constraints. Kinetic energy of rigid body. |
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10-15 |
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Plane-motion Dynamics of Rigid Bodies |
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Linear and angular momentum principles for systems including rigid bodies; derivingequations of motion using momentum principles; conservation of energy; linearization in the neighbourhood of equilibrium, stability and instability; rolling cylinder inside rollinghoop; inverted pendulum on cart. |
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16-18 |
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Vibrations of Two-Degree-of-Freedom Systems |
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Natural modes and the eigenvalue problem; free and forced response to harmonic excitation; damping effects; Bode plots. |
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19-24 |
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Control of Systems with Rigid Bodies |
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Actuators, sensors; P, D, I feedback-loop strategies; root-locus design; application to inverted pendulum on cart, automatic self-balancing scale; frequency-domain design methods, gain margin, phase margin. |
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