Equilibrium of rigid bodies, free body diagram, Analysis of beams and trusses – Friction – Lumped mass models in Dynamics – Particle motion in Cartesian, cylindrical and spherical coordinates – 2D translation – 2D rotation – basics of coordinate transformation – Rotation matrix – 3D translation – 3D rotation- Quaternion representation of rotation – Kinematics of rigid bodies – angular momentum of rigid bodies – relative motion with translating and rotating axes and Coriolis acceleration – Analysis of a simple robotic joint – Analysing 2-joint robotic arm.
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