Preface	6
	Preface to the Second Edition	6
	Preface to the First Edition	7
	Contents	10
	1 Mathematical Notation	13
	2 Rigid Body Kinematics	21
	2.1 Generalized Coordinates of Angular Orientation	21
	2.2 Kinematics of Continuous Motion	35
	2.3 Kinematic Differential Equations	44
	3 Basic Principles of Rigid Body Dynamics	49
	3.1 Kinetic Energy	49
	3.2 Angular Momentum	51
	3.3 Properties of Moments and of Products of Inertia	52
	3.4 Angular Momentum Theorem	56
	3.5 Principle of Virtual Power	59
	4 Classical Problems of Rigid Body Mechanics	61
	4.1 Unsymmetric Torque-Free Rigid Body	61
	4.2 Symmetric Torque-Free Rigid Body	70
	4.3 Self-Excited Symmetric Rigid Body	72
	4.4 Symmetric Heavy Top	74
	4.5 Symmetric Heavy Body in a Cardan Suspension	82
	4.6 Gyrostat. General Considerations	84
	4.7 Torque-Free Gyrostat	89
	5 General Multibody Systems	101
	5.1 Definition of Goals	101
	5.2 Elements of Multibody Systems	103
	5.3 Interconnection Structure of Multibody Systems	106
	5.4 Principle of Virtual Power for Multibody Systems	117
	5.5 Systems with Tree Structure	121
	5.6 Systems with Closed Kinematic Chains	141
	5.7 Systems with Spherical Joints	162
	5.8 Plane Motion	187
	5.9 Linear Vibrations of Chains of Bodies	196
	6 Impact Problems in Multibody Systems	204
	6.1 Basic Assumptions	205
	6.2 Velocity Increments. Impulses	208
	6.3 Analogy to the Law of Maxwell and Betti	210
	6.4 Constraint Impulses and Impulse Couples in Joints	214
	6.5 Chain Colliding with a Point Mass	214
	Solutions to Problems	220
	References	225
	Index	230