Rigid Body Dynamics Using Clifford Algebra
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- Selig, J.M. & Bayro-Corrochano, E. AACA (2010) 20: 141. doi:10.1007/s00006-008-0144-1
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In this paper the dynamics of rigid bodies is recast into a Clifford algebra formalism. Specifically, the algebra Cℓ(0, 6, 2), is used and it is shown how velocities, momenta and inertias can be represented by elements of this algebra. The equations of motion for a rigid body are simply derived by differentiating the momentum of the body.