Dynamics of planar mechanical systems: a graph theoretic approach

In planar mechanical systems, the translation is only in two dimensions. Typically included are linkages, rigid bodies, joints, springs, dampers and external influences. A graph theoretic approach which brings generality is developed to formulate the mathematical models of a system. The graph theoretic methods in physical systems are highly systematic techniques for analysis and design. Component models are developed for uniform modelling of two-terminal and multi-terminal components, including rigid bodies, joints, cams and gears. Topological models include the incidence, nodal, cutset and circuit equations. Systems level modelling is provided by tableaus of equations