This paper describes the use of a bicycle model to teach machine dynamics. The bicycle equations of motion are first obtained as a DAE system written in terms of dependent coordinates that are subject to holonomic and non-holonomic constraints. The equations are obtained using symbolic computation. The DAE system is transformed to ODE system written in terms of a minimum set of independent coordinates using the generalized coordinates partitioning method. This step is taken using numeric computation. The ODE system in then linearized about the upright position and eigenvalue analysis of the resulting system is performed. The frequencies and modes of the bicycle are obtained as a function of the forward velocity which is used as continuation parameter. The resulting frequencies and modes are compared with experimental results. Finally, the non-linear equations of the bicycle are used to create an interactive real-time simulator using Matlab-Simulik. Some issues about controlling the bicycle are discussed. All the paper is focused on teaching engineering students the practical application of analytical and computational mechanics using a model that being simple is familiar and attractive to them. (Author/publisher) For this paper, other papers and posters presented at this Symposium see http://bicycle.tudelft.nl/bmd2010/
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