ESO 209: Assignment 4 August 20, 2015 PROBLEM 1 A ship in the ocean is undergoing an arbitrary prescribed rigid-body motion in three dimensions, as shown in Fig.L. This motion is followed in terms of the ship’s roll(1), pitch(2) and yaw(3), lead- ing to the 1-2-3 Bnler angles. The 1-2-3 Euler angle sequence is described by the following flowchart: {cots} BE), ay ME era) BEM tea 1 ES ‘ Draw the above sequen, 2 b, Find Bauch that & . Compute [B],- What B),? 5, PROBLEM 2 For the above mentioned Euler angle sequence, xpress #4 and ¢/ in & coordinate aystem. PROBLEM 3 What is the angular velocity weer of coordinate system E obmerved in £7 , What isthe angular velocity were of coordinate system £" observed in €"7 . What is the angular vlocty weg, of coordinate nystem £” observed in £5? 4, Use solutions of above problems and the fact that angular velocity is a vector, to find wee, Because £ is fixed we often write we/ey 28 We. Hint: You should get we in terms of intermediate unit vectors, PROBLEM 4 Now express we completely in £) coordinate system.