Matrix equations of motion are derived for a general machine system in an accelerating reference frame. These equations are highly-nonlinear in the displacements of inertial elements and describe the dynamics of large motions. This analysis permits study of dynamic interactions between the moving elements of a machine and the motion of the machine body. The latter may undergo general translation and rotation as a result of internal and external forces. Power-conserving transformations relating inertial, kinematic, and generalized velocities provide a highly formal procedure for kinematic and dynamic analyses and produce explicit equations in generalized variables which are efficient for numerical solution. The theory is applied to study a machine with a four-bar linkage and driveshaft elasticity mounted on a spring-damper suspension. In this example, torsional oscillations in the drive are compared to those obtained with the machine body fixed in inertial space.

This content is only available via PDF.
You do not currently have access to this content.