In the realm of the dynamic analysis of machinery for design purposes, the determination of non-working constraint forces, which do not appear in simulation studies, is of the utmost importance. The said forces can be readily computed if suitable kinematic constraints are available. In this paper, a formulation of kinematic constraints is adopted, that pertains to the natural orthogonal complement method, introduced elsewhere, for the dynamic modeling of mechanical systems. This formulation is illustrated with several examples.

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