Screw Mechanics: Screw Statics, Kinematics and Dynamics for Multi-Body Systems

This book starts from the general concepts of force and torque and deduces the force screw naturally.The displacement, velocity, and acceleration of a rigid body and rigid-body system are discussed in geometry and algebra with a focus on increasing the intuitive understanding of the readers.Velocity screw is explained in vector geometry. Momentum screw of a rigid body and the theorem of momentum and moment of momentum are investigated for deducing the dynamics of a rigid body and rigid-body systems.This is the first time to interpret momentum and moment of momentum in such a way.All profound theories are explained in simple language.Screw mechanics focuses on the screw expression of mechanics from statics, to kinematics and dynamics of a rigid body and rigid-body systems.Therefore, the general scope of the book’s content covers from the definition of force screw to the deduction of the screw equation of statics in Newton’s first law, the investigation of the kinematic geometry of rigid