hw01.

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AE512 - Dynamics, Stability, and Control of Vehicles

Spring 2015
University of Washington
Homework 1
DUE: 10/11/15 6:00pm
Explicitly show all the steps. Correct answers without clearly written steps will get zero credit.
Label all graphs. You may work together but must generate your own code and output.
Problem 1
Part a. Derive the following rotation matrices
C1r HyL where F1 is obtained by rotating Fr through a right-handed rotation about the z-axis
by angle y
C21 HqL where F2 is obtained by rotating F1 through a right-handed rotation about the y-axis
by angle q
Cb2 HfL where Fb is obtained by rotating F2 through a right-handed rotation about the x-axis
by angle f
Part b. Show that a rotation matrix is a unitary matrix.
Part c. What are the inverses of the matrices in part a (what are Cr 1 HyL, C12 HqL, C2b HfL) ?
Problem 2
Show
uct)

for

(i)

aHuvL = a u v = ua v

(associative property of cross prod-

(ii)

u Hv + wL = HuvL + Hu wL

(distributive property of cross product)

a 1
u, v, w 3

Problem 3
Part a. Show that the cross product can be written as
Hw vLa = Wa v a
P
where w = Q
R
a

x
v = y
z
a

Wa =

0 -R Q
R
0 -P
-Q P
0

Part b. Using part a, what is the matrix equivalent of Hw Hw vLLa ?

AE512 - Dynamics, Stability, and Control of Vehicles

Christopher Lum

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Problem 4
Part a. Derive the rotation formula (Eq.1.2-6). Note: m is a left-handed rotation.
v = H1 - cosHmLL < u, n > n + cosHmL u - sinHmL Hn uL

(Eq.1.2-6)

Part b. Is it required that n is a unit vector?

Part c. From Eq.1.2-6, derive the Equation of Coriolis (Eq.1.2-7). Hint: let v = w + d w
Problem 5
Show that

wba =

wba (where wba is the vector describing how Fb is rotating with respect to Fa )

AE512 - Dynamics, Stability, and Control of Vehicles

Christopher Lum