ME397:IntermediateDynamics

Lecture#04

ME397:IntermediateDynamics
DepartmentofMechanicalEngineering

Lecture#04
September8,2015

Disclaimer:ThecontentsofthisdocumentarescribenotesforTheUniversityofTexasat
AustinME397Fall2015,IntermediateDynamics.

Calculus Review
Note Taker:

Hilgad Montelo (hilgad.montelo@utexas.edu)

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ME397:IntermediateDynamics
Lecture#04

Summary

Finishreviewaboutvectors;
RotationMatrices
VectorDerivatives
AngularVelocity
AngularAcceleration
Example

Vectors
Someimportantdefinitions:
1) ReferenceFrame:Arigid3Dobjectthatcanholdpoints,curves,bodies,etc.
2) CoordinateSystem:Embeddedinareferenceframe.Itisasetofscalar
quantities,(eq.angles,distances,etc.)usedtospecifypoints.
TypicalCoordinateSystems:
a) RectangularorCartesian: , ,
b) Cylindrical(2DorPolar): , ,
c) Spherical: , ,

3) VectorBases:3linearlyindependentunitvectorsthatprovideasenseof
directionin3Dspace.

a2

a1
a3

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ME397:IntermediateDynamics
Lecture#04

DifferencebetweenaCartesiancoordinatesystemandaVectorBasis(Text
Book,Page31)
Z
k
CartesianCoordinateSystem
VectorBasis

j
i
O

VectorsfunctionsofScalarVariables
a2

a3

a1

Wall

Door
Particleoverthedoor

r
h

c
b2
b1

b3

isfixedin
isfixedin

D
D

isafunctionof in
isafunctionof in

isafunctionof and in
isfixedin

bothmagnitudeanddirectiondonotchange

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ME397:IntermediateDynamics
Lecture#04

Derivatives
0

Thevectorrhasvariationwith

respecttoWwhenthetachanges

Thevectorrhasvariationwith
respecttoWwhenSchanges

Thevectorrhasnovariation
withrespecttoDwhentheta
changes

Thevectorrhasvariationwith
respecttoDwhenSchanges

SimpleRotationMatricesAboutoneAxis(TextBook,Chapter5)

ny
C

N
N0

by

bx

nx

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ME397:IntermediateDynamics
Lecture#04

ny

nx

RotationMatrix Form

0
0

Rewrite:

Note:

3Drotation:

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ME397:IntermediateDynamics
Lecture#04

VectorDerivatives(TextBook,Chapter6)

az
Az

nz

Ay
Ax

ay

ax
ny
nx

Isarotatingreferenceframewithangularvelocity

Let

Let

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definedby