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Relative velocities between two particles in classical mechanics. The figure shows two objects A and B moving at constant velocity. The equations of motion are: = +, = +, where the subscript i refers to the initial displacement (at time t equal to zero).
Motion is mathematically described in terms of displacement, distance, velocity, acceleration, speed, and frame of reference to an observer, measuring the change in position of the body relative to that frame with a change in time.
Kinematics is the branch of classical mechanics which describes the motion of points, bodies (objects) and systems of bodies (groups of objects) without consideration of the causes of motion. [3] Kinematics as a field of study is often referred to as the "geometry of motion". [4] For further detail, see Kinematics.
Energy can broadly be classified into kinetic, due to a body's motion, and potential, due to a body's position relative to others. Thermal energy, the energy carried by heat flow, is a type of kinetic energy not associated with the macroscopic motion of objects but instead with the movements of the atoms and molecules of which they are made.
Kinematics is used in astrophysics to describe the motion of celestial bodies and collections of such bodies. In mechanical engineering , robotics , and biomechanics , [ 7 ] kinematics is used to describe the motion of systems composed of joined parts (multi-link systems) such as an engine , a robotic arm or the human skeleton .
In the physical science of dynamics, rigid-body dynamics studies the movement of systems of interconnected bodies under the action of external forces.The assumption that the bodies are rigid (i.e. they do not deform under the action of applied forces) simplifies analysis, by reducing the parameters that describe the configuration of the system to the translation and rotation of reference ...
where b is the force acting on the body per unit mass (dimensions of acceleration, misleadingly called the "body force"), and dm = ρ dV is an infinitesimal mass element of the body. Body forces and contact forces acting on the body lead to corresponding moments ( torques ) of those forces relative to a given point.
An example of a body is the arm of a robot, a wheel or axle in a car or the human forearm. A link is the connection of two or more bodies, or a body with the ground. The link is defined by certain (kinematical) constraints that restrict the relative motion of the bodies. Typical constraints are: