General Spatial Dynamics of Rigid Bodies
The planar problems examined in Chap. 5 do not describe a number of the dynamical behaviors found in 3-D problems such as gyroscopic effects. In this chapter we describe the spatial dynamics of rigid bodies and the numerical solutions of the equations of motion using both Euler angles and Euler parameters. We again examine both a Newton-Euler approach and Lagrange’s equations. There are many other methods and issues that could be considered for 3-D problems that we will leave to more advanced treatments of dynamics.