3D_ Kinematics with Moving Reference Frames O Peevieusly , we Savothed tie planar kinemadies oF a rigid bedly could) be described with the Use ofa moving reference Frame by iaveleing the equations : \Vg~ Vat (aa) rey $23 Tera Gg= Ba* Aoia)ral +X * Fey + 205 x @aya)re\ +a ¥(Bx Fp ip) 5 We now want to extend these results sa thet we can cheracterize full 3D rigid bay Kinematics with meving reference Frames.Angular Velocity of the Restating Frame @ For planac problems we typically noted thet f= WE. /n 3D problems though the beady Srequertly tohedes about a vawiely f ares, NON| of which have to be Stottonary with Hme. DB. ay Be Ws oy 2 WwW, The totel angvloc velecity of the observer ja situations like Lhis is written ta vector Poem 25 Follows w= 1, ride + Ws... Note? Some of the angular velocity components will be about Lixed axes and others tating OES. When solving abe cats Oe able te dihagush behueen these.Angulac Acceleration of the Retating Frame. Q@ We previously Saw ae B= 65,4 Wet dgr.. Freon this . R= Bah, +Wit st... -s A IF we let Wi Wje;, then Boe ag Bi, = ws; By + wy; “\E i; is a rotation about a Fixed axis, then a,-3> aa, = 03; 8; “if a; is a rotation about a catating axis, then a3; = Loj,es +d; Fear, before we know aj =x ej Thos A is oA = = -er ws (B x8; ia Wye; + 4 ¢ i) . = 2. 2 Wjej + WUE; eA aS = Wj ej > Bay