Angular Velocity

Chapter

Abstract

Angular velocity of a rotating body B in a global frame G is the instantaneous rotation of the body with respect to G. Angular velocity is a vectorial quantity. Using the analytic description of angular velocity, we introduce the velocity and time derivative of homogenous transformation matrices.

Keywords

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© Springer Science+Business Media, LLC 2010

Authors and Affiliations

  1. 1.School of Aerospace, Mechanical, and Manufacturing EngineeringRMIT UniversityMelbourneAustralia

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