Abstract
Consider a system of N rigid or gyrostatic bodies enumerated i = 1, 2, … N in an arbitrary way. The i th body is shown in Fig.1. Its mass is m i its center of mass is designated CM i and its inertia dyadic with respect to the center of mass is li. Internal angular momentum is hi, nonzero for a gyrostat and zero for a rigid body. All vector bases are orthonormal and dextral. Base vectors ei= [e iα ] are rigidly embedded in the body at CM i, establishing a body-fixed frame {CM i, ei}. An inertial frame is {O I, eI}.
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References
Branin, F.H., Jr., “The inverse of the incidence matrix of a tree and the formulation of the algebraic-first-order differential equations of an RLC network”, IEEE Trans. Circuit Th. 10 (1963), 543, 544.
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© 1988 Springer-Verlag Berlin Heidelberg
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Roberson, R.E., Schwertassek, R. (1988). Foundations. In: Dynamics of Multibody Systems. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-86464-3_8
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DOI: https://doi.org/10.1007/978-3-642-86464-3_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-86466-7
Online ISBN: 978-3-642-86464-3
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