Some Rigid Body Kinematics
Rigid bodies are, by definition, systems of particles in which the distance between any two particles remains constant for all time and for all configurations. In other words, the particles of a rigid body do not move with respect to a coordinate system fixed in it. For this reason it is sometimes convenient to fix a coordinate system in a moving body, and to describe the motion in terms of the components along the axes of this moving coordinate system. As the coordinate system may then not be a Galilean frame, the resulting expressions for the acceleration components along the axes of the moving frame, but relative to an inertial frame, may become quite complicated.
KeywordsRigid Body Transformation Matrix Euler Angle Inertial Frame Direction Cosine
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