Abstract
Consider a rigid or gyrostatic body. Following the concepts of classical mechanics (for historical remarks, see [1]) we postulate that there exists an inertial frame {O I, eI} such that the mathematical equations based on the laws of Newton and Euler hold, namely:
Here I P is the linear momentum of the body with respect to the inertial frame and I H is the corresponding angular momentum. Dots indicate time derivatives with respect to the inertial frame. Quantities F and I L are resultants of force and torque on the body, the reference point for the torque being point O I. Equations 1 are the basic dynamical equations of motion, founded on independent laws of nature [1]. All subsequent manipulation simply recasts Eqs.1 in alternative forms. Initially we assume that the motions are unconstrained.
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References
Szabó, I., Geschichte der mechanischen Prinzipien, Birkhäuser Verlag, Basel, 1979.
Klein, F., Sommerfeld, A., Über die Theorie des Kreisels, Johnson Reprint Corp, NY, 1965. Reprint of the editions of 1897, 1898, 1903 and 1910, B.G.Teubner, Stuttgart.
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© 1988 Springer-Verlag Berlin Heidelberg
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Roberson, R.E., Schwertassek, R. (1988). Dynamical Equations. In: Dynamics of Multibody Systems. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-86464-3_7
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DOI: https://doi.org/10.1007/978-3-642-86464-3_7
Publisher Name: Springer, Berlin, Heidelberg
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