7. Joint dynamics

In addition to the forces and torques whose equilibrium has been studied, we need to take into account all the forces or torques resulting from the fact that the joint or the parts attached to the joint have a certain mass or moment of inertia, and that these different parts are driven by a certain speed (constant or variable).

• Centrifugal force

  It is used for all eccentric parts (they are all more or less eccentric due to construction errors): $F_{\mathit{ce}}={\mathit{M\omega }}^{2}e\approx \frac{{\mathit{Pn}}^{2}e}{900}$

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