Rigid body dynamics, a gateway course to the mechanical engineering major (and related majors), focuses on a view of motion that is not commensurate with the contemporary age in which mobile devices have on-board inertial firmware. The traditional approach to this topic deploys a mathematical notation, and associated algebra, that inordinately privileges the inertial frames and 2D motion. This limits the study of machines to two-dimensional problems, lends an appearance of whimsy to solutions that obfuscates the theory of motion. We propose a new mathematical approach to dynamics to reinvigorate the discipline and motivate students. The new approach uses modern mathematical tools which have been distilled to tractability: Lie Group Theory, Cartan’s Moving Frames and a new compact notation from Geometrical Physics. The reconstructed course abandons the cross product—a toxic algebraic operation due to its failure to adhere to associativity. We minimize the use of vectors and replace them with rotation matrices. Sophomores learn to solve 3D Dynamics problems with as much ease as solving 2D problems. Typical problems include the precession of tops, gyroscopes, inertial devices to prevent ship roll at sea, and 3D robot and crane kinetics. A critical aspect of this new method is the consistency: the notation is the same for 3D and 2D problems, from advanced robotics to introductory dynamics, students learn the name notational method. The first objective of this paper presents the new mathematical approach to rigid body dynamics—it amounts to an introductory, yet simplified, lecture on a new method. The second objective presents assessment over a three-year period. In the first year, we taught using the old 2D vector-based approach. In the second year, we transitioned to the new method and compared student perceptions in the first two years. In the third year, the course was refined. The goal of this effort is to retain students in mechanical engineering by offering them a new view of the discipline, rather than simple pedagogical course interventions such as e-learning or flipped classrooms. The course content is delivered using the emerging visualization technology: WebGL. WebGL represents the future of the 3D web. It requires no downloads and no plugins. Students are directed to a web site where all images for the lectures are 3D and interactive. The animations run on cell phones, laptops and other mobile devices. It is the contention of this paper that modernizing the math will do more to reduce attrition than learning interventions. This new approach reduces conceptual difficulties that accompany 2D restrictions. It opens many questions on how students perceive 3D space and invites research into how exploiting more modern mathematical math may improve learning.
Simulation of Mechanical Systems With Multiple Frictional Contacts