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| 1-3 | | | | Brief Review of 2.003 | | | | Uniaxial motion, fixed-axis rotation; first and second order systems; natural and forced response; transfer functions, zeroes, poles; elementary control: open-loop, closed-loop; closing the loop alters the natural and forced response characteristics; stability and instability. | |
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| 4-5 | | | | Impulse Response | | | | Collisions; conservation of momentum; conservation of energy; coefficient of restitution; bouncing ball in the presence of air drag. | |
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| 6-9 | | | | Plane-motion Kinematics of Rigid Bodies | | | | Combined translation and rotation of rigid body; angular velocity; generalized coordinates; common constraints. Kinetic energy of rigid body. | |
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| 10-15 | | | | Plane-motion Dynamics of Rigid Bodies | | | | Linear and angular momentum principles for systems including rigid bodies; derivingequations of motion using momentum principles; conservation of energy; linearization in the neighbourhood of equilibrium, stability and instability; rolling cylinder inside rollinghoop; inverted pendulum on cart. | |
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| 16-18 | | | | Vibrations of Two-Degree-of-Freedom Systems | | | | Natural modes and the eigenvalue problem; free and forced response to harmonic excitation; damping effects; Bode plots. | |
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| 19-24 | | | | Control of Systems with Rigid Bodies | | | | Actuators, sensors; P, D, I feedback-loop strategies; root-locus design; application to inverted pendulum on cart, automatic self-balancing scale; frequency-domain design methods, gain margin, phase margin. | |
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