KNES 300 Lecture 4: Linear kinematics

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Lecture 4: Linear Kinematics
Kinematics tree
Kinematics (motion)
o Linear
Position
Velocity
Acceleration
o Angular
Position
Velocity
Acceleration
Linear kinematics I
Introduction and definitions
Position, velocity, and acceleration
Special case: constant acceleration
General kinematics
Kinematics: the study of description of motion
Evolution of motion with respect of time
o Time series
o Time history
Provides useful information for:
o Clinical gait analysis (is the gait normal?)
o Physical education: growth and skill acquisition
o Coaching: performance assessment (Hatze)
Can be qualitative (citius, altius, fortius higher, faster, stronger) or
quantitative (5 km, 3.5 m/s)
Linear kinematics
Mathematical definition: 1st order polynomial
o Example:
Mechanical definition: pure translation
o Will assume rotation effects are negligible
o Not concerned with rotation (yet)
o Segment pose: position and orientation
Vectors
Need two pieces of information:
o Magnitude (how big)
o Direction (what direction is it going)
Displacement
Scalar
Only need one piece of information
o Magnitude
Direction doesn’t matter
Scalar does not always equal the vector after direction is taken away
Distance
y=f x
( )
=mx +b
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