Single Rigid Body Dynamics

Chapter

Abstract

This chapter develops the dynamical equations of motion for a single rigid body in multiple different ways: about the body center of mass, about an arbitrary point on the body, using body and inertial frame derivatives, and finally using an inertially fixed velocity reference point. The properties of each of these formulations are explored. These alternative formulations also help illustrate the analytical and transformation properties of spatial quantities.

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Copyright information

© Springer Science+Business Media, LLC 2011

Authors and Affiliations

  1. 1.Jet Propulsion LaboratoryPasadenaUSA

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