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6 - The Method of Virtual Power

Published online by Cambridge University Press:  21 March 2022

Joaquim A. Batlle  and
Ana Barjau Condomines
Joaquim A. Batlle
Affiliation:
Universitat Politècnica de Catalunya, Barcelona
Ana Barjau Condomines
Affiliation:
Universitat Politècnica de Catalunya, Barcelona
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Summary

The method of virtual power is a powerful tool to obtain the equations of motion and the constriant forces and moments in multibody systems (especially in planar motion). The d'Alembert torsor of inertial forces is defined, and then the concept of virtual motion is introduced. Numerous examples illustrate the application of that method to different mechanical systems.

Keywords

D'Alembert inertia torsorvirtual motion
Type
Chapter
Information
Rigid Body Dynamics , pp. 406 - 462
Publisher: Cambridge University Press
Print publication year: 2022

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