{"id":101,"date":"2021-12-14T14:56:17","date_gmt":"2021-12-14T13:56:17","guid":{"rendered":"https:\/\/web.umons.ac.be\/mrdv\/?page_id=101"},"modified":"2022-05-27T14:26:54","modified_gmt":"2022-05-27T12:26:54","slug":"easydyn","status":"publish","type":"page","link":"https:\/\/web.umons.ac.be\/mrdv\/easydyn\/","title":{"rendered":"EasyDyn"},"content":{"rendered":"<h1><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-105 size-medium\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN-300x300.jpg\" alt=\"\" width=\"300\" height=\"300\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN-300x300.jpg 300w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN-150x150.jpg 150w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN-30x30.jpg 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN-80x80.jpg 80w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN-60x60.jpg 60w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN-360x360.jpg 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN-400x400.jpg 400w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN-200x200.jpg 200w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN.jpg 578w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/h1>\n<h1 style=\"text-align: center\">EasyDyn, Easy Simulation of Dynamic Problems<\/h1>\n<p>EasyDyn is a C++ library for the simulation of problems represented by second-order (or first-order) differential equations and, more particularly, multibody systems.<\/p>\n<p>The library is free and distributed under the GPL. To have some more information, please, have a look at the <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/EasyDyn.pdf\">user guide<\/a> or <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/EasyDyn.pdf\">this paper<\/a><\/p>\n<p>The library is organized in 4 modules<\/p>\n<ul>\n<li>vec: C++ classes relative to vector calculus (vector, rotation tensor, homogeneous transformation matrix, inertia tensor) + assignment methods and operators<\/li>\n<li>sim: routines for integration of second-order differential equations;<\/li>\n<li>mbs: front-end to sim building the equations of motion from kinematics and applied efforts;<\/li>\n<li>visu: easy creation of files describing scenes composed of moving 3D objects for further visualization.<\/li>\n<\/ul>\n<p>Moreover, it provides a utility, called CAGeM (Computer-Aided Generation of Motion), which automatically generates the kinematics of a multibody system only from the position matrices. CAGeM is actually a MuPAD script, which uses the symbolic features of MuPAD to derive the position matrices. <a href=\"http:\/\/www.mupad.de\">MuPAD<\/a> is a computer algebraic system which was free for non commercial applications when EasyDyn was started. Unfortunately, it is no longer the case. We investigate but we have not found so far an open source computer algebraic system with all features of MuPAD. Wait and see.<\/p>\n<p>The visualization will be performed with the help of <strong>EasyAnim<\/strong> that can also be downloaded from this site. You will find in the archive the necessary information to use it. Binary versions can also be downloaded directly. For immediate information, have a look at the <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2022\/05\/READMEEasyAnim.zip\">Readme<\/a>. Herebelow some screenshots of EasyAnim.<\/p>\n<table style=\"width: 88.2702%\">\n<tbody>\n<tr>\n<td style=\"width: 51.086%;text-align: center\">\u00a0 <img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-138 alignleft\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/car-300x295.png\" alt=\"\" width=\"300\" height=\"295\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/car-300x295.png 300w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/car-672x660.png 672w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/car-30x29.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/car-80x80.png 80w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/car-60x60.png 60w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/car-360x354.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/car.png 722w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/td>\n<td style=\"width: 56.5816%;text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-141 alignleft\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/train-300x295.png\" alt=\"\" width=\"300\" height=\"295\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/train-300x295.png 300w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/train-672x660.png 672w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/train-30x29.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/train-80x80.png 80w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/train-60x60.png 60w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/train-360x354.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/train.png 722w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/td>\n<\/tr>\n<tr>\n<td style=\"width: 51.086%\"><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-137 alignleft\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/bogie-300x280.png\" alt=\"\" width=\"300\" height=\"280\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/bogie-300x280.png 300w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/bogie-707x660.png 707w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/bogie-30x28.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/bogie-60x56.png 60w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/bogie-360x336.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/bogie.png 720w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/td>\n<td style=\"width: 56.5816%;text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-140 alignleft\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot-300x280.png\" alt=\"\" width=\"300\" height=\"280\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot-300x280.png 300w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot-707x660.png 707w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot-30x28.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot-60x56.png 60w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot-360x336.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot.png 720w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>Note that EasyAnim is used as an animation tool for the multibody simulation package <a href=\"http:\/\/www.aero.polimi.it\/~mbdyn\">MBDyn<\/a> developed at the <a href=\"https:\/\/www.aero.polimi.it\/\">Dipartimento di Ingegneria Aerospaziale<\/a> of the \u00ab\u00a0Politecnico di Milano\u00a0\u00bb. See <a href=\"http:\/\/www.aero.polimi.it\/~mbdyn\/download\/easyanim.html\">this page<\/a> to know how EasyAnim is used and actively developed in Milano.<\/p>\n<h2>Download<\/h2>\n<p><a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2022\/05\/EasyDyn-1.2.4.tgz\">EasyDyn-1.2.4.tgz<\/a> (july 31 2008)<\/p>\n<p><a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2022\/05\/EasyDyn-1.2.4.zip\">EasyDyn-1.2.4.zip<\/a> (july 31 2008)<\/p>\n<p><a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2022\/05\/EasyDyn-1.2.3.tgz\">EasyDyn-1.2.3.tgz<\/a> (november 30 2004)<\/p>\n<p><a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2022\/05\/EasyDyn-1.2.3.zip\">EasyDyn-1.2.3.zip<\/a> (november 30 2004)<\/p>\n<p><a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2022\/05\/EasyAnim-1.3.1.tgz\">EasyAnim-1.3.1.tgz<\/a> (december 2006)<\/p>\n<p><a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2022\/05\/EasyAnim-1.3.1.zip\">EasyAnim-1.3.1.zip<\/a> (december 2006)<\/p>\n<p><a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2022\/05\/EasyAnim-1.3.tgz\">EasyAnim-1.3.tgz<\/a> (january 2005)<\/p>\n<p><a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2022\/05\/EasyAnim-1.3.zip\">EasyAnim-1.3.zip<\/a> (january 2005)<\/p>\n<p>Binary versions of EasyAnim: <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2022\/05\/EasyAnimm.zip\">Linux\/Motif<\/a>, <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2022\/05\/EasyAnimx.zip\">Linux\/Athena<\/a> (unstable) and <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2022\/05\/EasyAnim.zip\">Windows<\/a>.<\/p>\n<h2>Related software<\/h2>\n<p>To use EasyDyn, you will need a C++ compiler, the Gnu Scientific library (GSL) and, eventually, LAPACK. All these packages are included in the popular Linux distributions.<\/p>\n<p>Under Unix, you should have a C++ compiler. If not, I recommend the excellent <a href=\"http:\/\/www.gnu.org\/software\/gcc\/gcc.html\">gcc<\/a> from the FSF. Please note that you need a version over gcc 3.0 due to a change in the C++ ABI.<\/p>\n<p>You can also download freely the <a href=\"http:\/\/www.gnu.org\/software\/gsl\/gsl.html\">GSL<\/a> and <a href=\"http:\/\/www.netlib.org\/lapack\">LAPACK<\/a>. Note that version 1.2.4 of EasyDyn <strong>no longer needs LAPACK<\/strong> but needs GSL 1.10 (or above).<\/p>\n<p>Under Windows, I recommend <a href=\"http:\/\/www.mingw.org\">mingw<\/a>, an implementation of gcc for Windows and the related environment <a href=\"http:\/\/sourceforge.net\/projects\/dev-cpp\">Dev-cpp<\/a>. To make your job easier, please download this precompiled version of <a href=\"https:\/\/hosting.umons.ac.be\/html\/mecara\/EasyDyn\/mingw-gsl-1.11.zip\">GSL-1.11<\/a> for mingw.<\/p>\n<h2>Problems<\/h2>\n<p>EasyDyn comes along with a set of problems that can be solved by EasyDyn, but also with any MBS tool. These problems can be a good source of inspiration for all professors involved in teaching MBS dynamics. You will find below the description of all problems in English and in French. You will find not only the data to solve the problem but also some expected results. We have of course completely described solutions, which are not distributed for the simple reason that our students have to solve some of them.<\/p>\n<table>\n<tbody>\n<tr>\n<td><strong><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-145\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WheelOnCircPath-282x300.png\" alt=\"\" width=\"282\" height=\"300\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WheelOnCircPath-282x300.png 282w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WheelOnCircPath-620x660.png 620w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WheelOnCircPath-30x32.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WheelOnCircPath-56x60.png 56w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WheelOnCircPath-360x383.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WheelOnCircPath.png 722w\" sizes=\"auto, (max-width: 282px) 100vw, 282px\" \/><br \/>\nWheel on a circular path<br \/>\n<a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/wcp.pdf\">EN<\/a> <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/wcpFR.pdf\">FR<\/a><\/strong><\/td>\n<td><strong><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-136\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/2WheelsOnCircPath-282x300.png\" alt=\"\" width=\"282\" height=\"300\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/2WheelsOnCircPath-282x300.png 282w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/2WheelsOnCircPath-620x660.png 620w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/2WheelsOnCircPath-30x32.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/2WheelsOnCircPath-56x60.png 56w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/2WheelsOnCircPath-360x383.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/2WheelsOnCircPath.png 722w\" sizes=\"auto, (max-width: 282px) 100vw, 282px\" \/><br \/>\n2 wheels on a circular path<br \/>\n<a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/wcp2.pdf\">EN<\/a> <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/wcp2FR.pdf\">FR<\/a><\/strong><\/td>\n<td><strong><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-146\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot-1-282x300.png\" alt=\"\" width=\"282\" height=\"300\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot-1-282x300.png 282w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot-1-620x660.png 620w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot-1-30x32.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot-1-56x60.png 56w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot-1-360x383.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot-1.png 722w\" sizes=\"auto, (max-width: 282px) 100vw, 282px\" \/><br \/>\nRobot<br \/>\n<a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Robot.pdf\">EN<\/a> <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/RobotFR.pdf\">FR<\/a><\/strong><\/td>\n<td><strong><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-147\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/ComposedPendulum-282x300.png\" alt=\"\" width=\"282\" height=\"300\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/ComposedPendulum-282x300.png 282w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/ComposedPendulum-620x660.png 620w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/ComposedPendulum-30x32.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/ComposedPendulum-56x60.png 56w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/ComposedPendulum-360x383.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/ComposedPendulum.png 722w\" sizes=\"auto, (max-width: 282px) 100vw, 282px\" \/><br \/>\nComposed pendulum<br \/>\n<a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/penc.pdf\">EN<\/a> <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/pencFR.pdf\">FR<\/a><\/strong><\/td>\n<\/tr>\n<tr>\n<td><strong><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-148\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/RotatingPendulum-282x300.png\" alt=\"\" width=\"282\" height=\"300\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/RotatingPendulum-282x300.png 282w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/RotatingPendulum-620x660.png 620w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/RotatingPendulum-30x32.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/RotatingPendulum-56x60.png 56w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/RotatingPendulum-360x383.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/RotatingPendulum.png 722w\" sizes=\"auto, (max-width: 282px) 100vw, 282px\" \/><br \/>\nRotating pendulum<br \/>\n<a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/penr.pdf\">EN<\/a> <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/penrFR.pdf\">FR<\/a><\/strong><\/td>\n<td><strong><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-149\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SlidingPendulum-282x300.png\" alt=\"\" width=\"282\" height=\"300\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SlidingPendulum-282x300.png 282w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SlidingPendulum-620x660.png 620w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SlidingPendulum-30x32.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SlidingPendulum-56x60.png 56w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SlidingPendulum-360x383.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SlidingPendulum.png 722w\" sizes=\"auto, (max-width: 282px) 100vw, 282px\" \/><br \/>\nSliding pendulum<br \/>\n<a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/penl.pdf\">EN<\/a> <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/penlFR.pdf\">FR<\/a><\/strong><\/td>\n<td><strong><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-150\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Nosesusp-282x300.png\" alt=\"\" width=\"282\" height=\"300\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Nosesusp-282x300.png 282w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Nosesusp-620x660.png 620w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Nosesusp-30x32.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Nosesusp-56x60.png 56w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Nosesusp-360x383.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Nosesusp.png 722w\" sizes=\"auto, (max-width: 282px) 100vw, 282px\" \/><br \/>\nAirplane nose suspension<br \/>\n<a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/nosesusp.pdf\">EN<\/a> <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/nosesuspFR.pdf\">FR<\/a><\/strong><\/td>\n<td><strong><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-151\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SliderCrank-282x300.png\" alt=\"\" width=\"282\" height=\"300\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SliderCrank-282x300.png 282w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SliderCrank-620x660.png 620w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SliderCrank-30x32.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SliderCrank-56x60.png 56w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SliderCrank-360x383.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SliderCrank.png 722w\" sizes=\"auto, (max-width: 282px) 100vw, 282px\" \/><br \/>\nSlider crank mechanism<br \/>\n<a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SliderCrank.pdf\">EN<\/a> <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/SliderCrankFR.pdf\">FR<\/a><\/strong><\/td>\n<\/tr>\n<tr>\n<td><strong><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-152\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/TruckBraking-282x300.png\" alt=\"\" width=\"282\" height=\"300\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/TruckBraking-282x300.png 282w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/TruckBraking-620x660.png 620w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/TruckBraking-30x32.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/TruckBraking-56x60.png 56w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/TruckBraking-360x383.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/TruckBraking.png 722w\" sizes=\"auto, (max-width: 282px) 100vw, 282px\" \/><br \/>\nTruck braking<br \/>\n<a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/TruckBraking.pdf\">EN<\/a> <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/TruckBrakingFR.pdf\">FR<\/a><\/strong><\/td>\n<td><strong><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-153\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Valve-282x300.png\" alt=\"\" width=\"282\" height=\"300\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Valve-282x300.png 282w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Valve-620x660.png 620w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Valve-30x32.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Valve-56x60.png 56w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Valve-360x383.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/Valve.png 722w\" sizes=\"auto, (max-width: 282px) 100vw, 282px\" \/><br \/>\nValve<br \/>\n<a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/valve.pdf\">EN<\/a> <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/valveFR.pdf\">FR<\/a><\/strong><\/td>\n<td><strong><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-154\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/VertVehicle-282x300.png\" alt=\"\" width=\"282\" height=\"300\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/VertVehicle-282x300.png 282w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/VertVehicle-620x660.png 620w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/VertVehicle-30x32.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/VertVehicle-56x60.png 56w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/VertVehicle-360x383.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/VertVehicle.png 722w\" sizes=\"auto, (max-width: 282px) 100vw, 282px\" \/><br \/>\nVertical motion of a simplified vehicle<br \/>\n<a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/VertVehicle.pdf\">EN<\/a> <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/VertVehicleFR.pdf\">FR<\/a><\/strong><\/td>\n<td><strong><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-155\" src=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WattRegulator-282x300.png\" alt=\"\" width=\"282\" height=\"300\" srcset=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WattRegulator-282x300.png 282w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WattRegulator-620x660.png 620w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WattRegulator-30x32.png 30w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WattRegulator-56x60.png 56w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WattRegulator-360x383.png 360w, https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WattRegulator.png 722w\" sizes=\"auto, (max-width: 282px) 100vw, 282px\" \/><br \/>\nWatt regulator<br \/>\n<a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WattRegulator.pdf\">EN<\/a> <a href=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/WattRegulatorFR.pdf\">FR<\/a><\/strong><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h2>Contact<\/h2>\n<p>Please feel free to contact me.<\/p>\n<p>Prof. Dr. Ir. Olivier VERLINDEN<br \/>\n<a href=\"https:\/\/web.umons.ac.be\/\" target=\"_blank\" rel=\"noopener\">Facult\u00e9 Polytechnique de Mons<\/a><br \/>\n<a href=\"https:\/\/web.umons.ac.be\/mrdv\/\" target=\"_blank\" rel=\"noopener\">Department of Theoretical Mechanics, Dynamics and Vibrations<\/a><br \/>\n31, Bd Dolez\u00a0 |\u00a0 B-7000 MONS (BELGIUM)<br \/>\nE-mail Olivier.Verlinden*AT*umons.ac.be<\/p>\n<div id=\"ConnectiveDocSignExtentionInstalled\" data-extension-version=\"1.0.4\"><\/div>\n","protected":false},"excerpt":{"rendered":"<p>EasyDyn, Easy Simulation of Dynamic Problems EasyDyn is a C++ library for the simulation of problems represented by second-order (or first-order) differential equations and, more particularly, multibody systems. The library is free and distributed under the GPL. To have some more information, please, have a look at the user guide or this paper The library [&hellip;]<\/p>\n","protected":false},"author":108,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-101","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.2 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>EasyDyn - Service \/ FPMS - M\u00e9canique rationnelle, Dynamique et Vibrations<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/web.umons.ac.be\/mrdv\/easydyn\/\" \/>\n<meta property=\"og:locale\" content=\"fr_FR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"EasyDyn - Service \/ FPMS - M\u00e9canique rationnelle, Dynamique et Vibrations\" \/>\n<meta property=\"og:description\" content=\"EasyDyn, Easy Simulation of Dynamic Problems EasyDyn is a C++ library for the simulation of problems represented by second-order (or first-order) differential equations and, more particularly, multibody systems. The library is free and distributed under the GPL. To have some more information, please, have a look at the user guide or this paper The library [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/web.umons.ac.be\/mrdv\/easydyn\/\" \/>\n<meta property=\"og:site_name\" content=\"Service \/ FPMS - M\u00e9canique rationnelle, Dynamique et Vibrations\" \/>\n<meta property=\"article:modified_time\" content=\"2022-05-27T12:26:54+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN-300x300.jpg\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Dur\u00e9e de lecture estim\u00e9e\" \/>\n\t<meta name=\"twitter:data1\" content=\"3 minutes\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/web.umons.ac.be\/mrdv\/easydyn\/\",\"url\":\"https:\/\/web.umons.ac.be\/mrdv\/easydyn\/\",\"name\":\"EasyDyn - Service \/ FPMS - M\u00e9canique rationnelle, Dynamique et Vibrations\",\"isPartOf\":{\"@id\":\"https:\/\/web.umons.ac.be\/mrdv\/#website\"},\"primaryImageOfPage\":{\"@id\":\"https:\/\/web.umons.ac.be\/mrdv\/easydyn\/#primaryimage\"},\"image\":{\"@id\":\"https:\/\/web.umons.ac.be\/mrdv\/easydyn\/#primaryimage\"},\"thumbnailUrl\":\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN-300x300.jpg\",\"datePublished\":\"2021-12-14T13:56:17+00:00\",\"dateModified\":\"2022-05-27T12:26:54+00:00\",\"breadcrumb\":{\"@id\":\"https:\/\/web.umons.ac.be\/mrdv\/easydyn\/#breadcrumb\"},\"inLanguage\":\"fr-FR\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/web.umons.ac.be\/mrdv\/easydyn\/\"]}]},{\"@type\":\"ImageObject\",\"inLanguage\":\"fr-FR\",\"@id\":\"https:\/\/web.umons.ac.be\/mrdv\/easydyn\/#primaryimage\",\"url\":\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN-300x300.jpg\",\"contentUrl\":\"https:\/\/web.umons.ac.be\/app\/uploads\/sites\/70\/2021\/12\/logoDYN-300x300.jpg\"},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/web.umons.ac.be\/mrdv\/easydyn\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Home\",\"item\":\"https:\/\/web.umons.ac.be\/mrdv\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"EasyDyn\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/web.umons.ac.be\/mrdv\/#website\",\"url\":\"https:\/\/web.umons.ac.be\/mrdv\/\",\"name\":\"Service \/ FPMS - M\u00e9canique rationnelle, Dynamique et Vibrations\",\"description\":\"\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/web.umons.ac.be\/mrdv\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"fr-FR\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"EasyDyn - Service \/ FPMS - M\u00e9canique rationnelle, Dynamique et Vibrations","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/web.umons.ac.be\/mrdv\/easydyn\/","og_locale":"fr_FR","og_type":"article","og_title":"EasyDyn - Service \/ FPMS - M\u00e9canique rationnelle, Dynamique et Vibrations","og_description":"EasyDyn, Easy Simulation of Dynamic Problems EasyDyn is a C++ library for the simulation of problems represented by second-order (or first-order) differential equations and, more particularly, multibody systems. 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