Geometric Mechanics, Part II: Rotating, Translating and Rolling: Rotating, Translating and Rolling Pt. II

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9781848161559: Geometric Mechanics, Part II: Rotating, Translating and Rolling: Rotating, Translating and Rolling Pt. II
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This textbook introduces the tools and language of modern geometric mechanics to advanced undergraduate and beginning graduate students in mathematics, physics, and engineering. It treats the dynamics of rotating, spinning and rolling rigid bodies from a geometric viewpoint, by formulating their solutions as coadjoint motions generated by Lie groups. The only prerequisites are linear algebra, multivariable calculus and some familiarity with Euler-Lagrange variational principles and canonical Poisson brackets in classical mechanics at the beginning undergraduate level. Variational calculus on tangent spaces of Lie groups is explained in the context of familiar concrete examples.Through these examples, the student develops skills in performing computational manipulations, starting from vectors and matrices, working through the theory of quaternions to understand rotations, and then transferring these skills to the computation of more abstract adjoint and coadjoint motions, Lie-Poisson Hamiltonian formulations, momentum maps and finally dynamics with nonholonomic constraints. The 120 Exercises and 55 Worked Answers help the student to grasp the essential aspects of the subject, and to develop proficiency in using the powerful methods of geometric mechanics. In addition, all theorems are stated and proved explicitly. The book's many examples and worked exercises make it ideal for both classroom use and self-study.


Both books are very readable; the author has an easy, informal style ... These two books, written by one of the masters in geometric mechanics, provide an accessible way into the subject for newcomers; they also give a unique perspective for those who are not so new. --Professor Peter Hydon, UK Nonlinear News Review

This two-volume book fills a niche in the geometric mechanics literature at the crossroads between mathematics and physics/engineering and between elementary and advanced texts on theoretical mechanics. --Mathematical Reviews

Students who work carefully through the material in these volumes will amass a formidable armory of mathematical techniques and will be well equipped to attack new and challenging problems in mechanics ... The appendices contain a collection of valuable example problems that are suitable for both homework and enhanced coursework. There are also numerous exercises scattered throughout the text to allow readers to evaluate their progress. --SIAM Review

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