Kinematics and Dynamics of Machines (EE 521)

2019 Spring
Faculty of Engineering and Natural Sciences
Electronics Engineering(EE)
Volkan Pato─člu,
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Doctoral, Master
Formal lecture
Project based learning,Simulation,Case Study
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Introduction to mechanisms, kinematics of mechanisms, displacement analysis, kinematics velocity analysis, acceleration analysis, forces in mechanisms, work, energy and power, momentum and impact, geometry of mechanisms, synthesis of mechanisms, transmission mechanisms, vibration, multi-body dynamics.


This course is designed to equip students with fundamental theories and computational methodologies that are used in (computer aided) analysis of multibody systems. Students will learn how to analytically formulate dynamics equations for multibody systems as well as how to utilize numerical algorithms to simulate such systems. Computational mechanics is of high value for the purposes of performance evaluation, sensitivity studies, control system design, model based monitoring and so on.

Students will be introduced to generalized coordinates and speeds, analytical and computational determination of inertia properties, generalized forces, Kane's method, Lagrange's equations, holonomic and nonholonomic constraints. Computerized symbolic manipulation and time integration methods for dynamic analysis will be exercised.

Of the available techniques for formulating equations of motion for multibody systems, symbolic formulation and Kanes method will be emphasized. Being a vector based approach and making optimal use of generalized coordinates and speeds, Kane's method is preferred for its relative ease of computerization and its computational efficiency. Efficiency may be interpreted here both as producing equations efficiently (with the fewest symbolic operations) and producing efficient equations (which require the fewest numerical operations
for their solution). Also, Kanes method produces equations in ordinary differential form (ODEs) even for nonholonomically constrained systems, which can be accommodated using (stabilized) standard solvers.

The emphasis in this course is not on the excessive mathematical abstraction but rather on an integrated understanding of modeling, equation derivation and numerical solution. A solid understanding of the principles of dynamics in the context of modern analytical and computational methods is aimed.


Identify relevant points, bodies, and bases; choose generalized coordinates to represent a multibody
Relate several frames through rigid body rotations.
Form the required position vectors.
Differentiate relevant vectors to form required velocities and accelerations.
Select generalized speeds and formulate kinematical differential equations.
Formulate equations of motion for unconstrained systems.
Form constraint equations and solve for independent variables.
Formulate equations of motion for systems with constrains.
Numerically integrate resulting equations of motion even for systems with changing kinematic constraints.
Check validity of numerical integration of equations of motion.
Linearize equations of motion.
Form work functions, calculate kinetic and potential energy of the system.
Formulate the Lagrangian and express the equations of motion in a DAE form.
Numerically solve for the DAEs using stabilized integration methods.


1. Develop and deepen the current and advanced knowledge in the field with original thought and/or research and come up with innovative definitions based on Master's degree qualifications

2. Conceive the interdisciplinary interaction which the field is related with ; come up with original solutions by using knowledge requiring proficiency on analysis, synthesis and assessment of new and complex ideas.

3. Evaluate and use new information within the field in a systematic approach.

4. Develop an innovative knowledge, method, design and/or practice or adapt an already known knowledge, method, design and/or practice to another field; research, conceive, design, adapt and implement an original subject.

5. Critical analysis, synthesis and evaluation of new and complex ideas.

6. Gain advanced level skills in the use of research methods in the field of study.

7. Contribute the progression in the field by producing an innovative idea, skill, design and/or practice or by adapting an already known idea, skill, design, and/or practice to a different field independently.

8. Broaden the borders of the knowledge in the field by producing or interpreting an original work or publishing at least one scientific paper in the field in national and/or international refereed journals.

9. Demonstrate leadership in contexts requiring innovative and interdisciplinary problem solving.

10. Develop new ideas and methods in the field by using high level mental processes such as creative and critical thinking, problem solving and decision making.

11. Investigate and improve social connections and their conducting norms and manage the actions to change them when necessary.

12. Defend original views when exchanging ideas in the field with professionals and communicate effectively by showing competence in the field.

13. Ability to communicate and discuss orally, in written and visually with peers by using a foreign language at least at a level of European Language Portfolio C1 General Level.

14. Contribute to the transition of the community to an information society and its sustainability process by introducing scientific, technological, social or cultural improvements.

15. Demonstrate functional interaction by using strategic decision making processes in solving problems encountered in the field.

16. Contribute to the solution finding process regarding social, scientific, cultural and ethical problems in the field and support the development of these values.

1. Develop the ability to use critical, analytical, and reflective thinking and reasoning

2. Reflect on social and ethical responsibilities in his/her professional life.

3. Gain experience and confidence in the dissemination of project/research outputs

4. Work responsibly and creatively as an individual or as a member or leader of a team and in multidisciplinary environments.

5. Communicate effectively by oral, written, graphical and technological means and have competency in English.

6. Independently reach and acquire information, and develop appreciation of the need for continuously learning and updating.

1. Design and model engineering systems and processes and solve engineering problems with an innovative approach.

2. Establish experimental setups, conduct experiments and/or simulations.

3. Analytically acquire and interpret data.

1. Employ mathematical methods to solve physical problems and understand relevant numerical techniques.

2. Conduct basic experiments or simulations.

3. Analytically acquire and interpret data.

4. Establish thorough understanding of the fundamental principles of physics.

1. Use advanced Math (including probability and/or statistics), advanced sciences, advanced computer and programming, and advanced Electronics engineering knowledge to design and analyze complex electronics circuits, instruments, software and electronic systems with hardware/software.

2. Analyze and design advanced communication networks and systems, advanced signal processing algorithms or software using advanced knowledge on diff. equations, linear algebra, complex variables and discrete math.

1. Apply software, modeling, instrumentation, and experimental techniques and their combinations in the design and integration of electrical, electronic, control and mechanical systems.

2. Interact with researchers from different disciplines to exchange ideas and identify areas of research collaboration to advance the frontiers of present knowledge and technology; determine relevant solution approaches and apply them by preparing a research strategy.

3. Take part in ambitious and highly challenging research to generate value for both the industry and society.

1. Assess and identify developments, strategies, opportunities and problems in energy security and energy technologies.

2. Define and solve technical, economic and administrative problems in energy businesses.

3. Establish knowledge and understanding of energy security, energy technologies, energy markets and strategic planning in energy enterprises.

4. Demonstrate an awareness of environmental concerns and their importance in developing engineering solutions and new technologies.

5. Acquire a series of social and technical proficiencies for project management and leadership skills.

1. Apply a broad knowledge of structure & microstructure of all classes of materials, and the ability to use this knowledge to determine the material properties.

2. Apply a broad understanding of the relationships between material properties, performance and processing.

3. Apply a broad understanding of thermodynamics, kinetics, transport phenomena, phase transformations and materials aspects of advanced technology.

4. Demonstrate hands-on experience using a wide range of materials characterization techniques.

5. Demonstrate the use of results from interpreted data to improve the quality of research, a product, or a product in materials science and engineering.

1. Apply knowledge of mathematics, science, and engineering in computer science and engineering related problems.

2. Display knowledge of contemporary issues in computer science and engineering and apply to a particular problem.

3. Demonstrate the use of results from interpreted data to improve the quality of research or a product in computer science and engineering.

1. Apply knowledge of key concepts in biology, with an emphasis on molecular genetics, biochemistry and molecular and cell biology.

2. Display an awareness of the contemporary biological issues in relation with other scientific areas.

3. Demonstrate hands-on experience in a wide range of biological experimental techniques.

1. Establish a strong theoretical background in several of a broad range of subjects related to the discipline, such as manufacturing processes, service systems design and operation, production planning and control, modeling and optimization, stochastics, statistics.

2. Develop novel modeling and / or analytical solution strategies for problems in integrated production and service systems involving human capital, materials, information, equipment, and energy, also using an interdisciplinary approach whenever appropriate.

3. Implement solution strategies on a computer platform for decision-support purposes by employing effective computational and experimental tools.

4. Acquire skills to independently explore and tackle problems related to the discipline that were not encountered previously. Develop appropriate modeling, solution, implementation strategies, and assess the quality of the outcome.


  Percentage (%)
Final 15
Exam 20
Individual Project 35
Homework 30



Kane and Levison, Dynamics Online: Theory and Implementation with Autolev,, 2000.

Kane and Levison, Dynamics: Theory and Applications, Mcgraw Hill, 1985.

Kane, Spacecraft Dynamics, Mcgraw-Hill College, 1981.

Course Web