On the Principle of Compatibility and the Equations of Motion of Constrained Mechanical Systems

Determination of reaction forces at kinematical joints

“…Of course, to do this it is necessary to calculate the inverse matrix of inertia as in the case of applying directly the principle of compatibility [2][3][4][5]. However, it is important that the dimension of the matrix of inertia of the original system is smaller than the freed system.…”

“…Basing on the principle of compatibility [2][3][4][5] the motion of a constrained system must be written in the form:…”

“…As an illustration let us consider· a hammer crush machine shown in There is a couple of force M acting on the drum. The physical pendulum has the mass m and the moment of inertia 1 2 about its center of mass C 2 (AC 2 …”

Về phương trình chuyển động của các hệ cơ học

“…det II ~:: II =I= 0 nen cllc pban l11c lien kElt Qr se dugc xac dfnh nho cac phuang trinh d~y du (2)(3) Va…”

“…T9p chi CO HQC 1980 so 3 <trang 13 -20) ' DO SANH N HU' chung ta da biet, de thimh l~p plmang trinh chuyen d<)ng ciia cac be ca hoc _ nguai ta thrrcmg sir d~ng cac nguyen ly co h9c : cac nguyen ly vi -pM.n va tich · ph:ln· Trcing b!d bao nay dEl th:inh l~p phuang lrinh chuy~n d¢ng da cac h~ ca hQc chting tbi xuat phat Lir m¢t nguyen ly kbac : nguyen ly tuong thich [2] Can nMn m~nh ding nguyen ly tuong thich Ia m¢t c6ng q1 Kbao sal ml}l h~ ca h9c v&i cac t9a dQ rna r¢ng (i = 1, n) va lien ket dl!-ng:…”