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Systems in Motion:
Dynamics of Three
Dimensional (3D) Motion
Dr. Wayne Whiteman
Director of the Office of Student Services
and Senior Academic Professional
School of Mechanical Engineering
d
M
O dt H O
d
M C dt H C
m
a
P C PC C
4
2nd
d
M C dt H C
J
I
Inertial Frame I
k
C
B / F
Body B
I
M C HC
Let body
B a frame in which we have M C
and H C conveniently written.
Body Fixed Frame
Derivative Formula
I
A A A
Let
A HC
I xxC
H C I C I xyC
I xzC
I xyC
C
I yy
I yzC
J
I
Inertial Frame I
k
C
B / F
Body B
I xzC x
C
I yz y
I zzC z
6
Rotational
Motion
of a 3D Rigid Body
M C H C B / I H C
C
C
C
I
C xx x xy y xz z i
B
HC
C
I xyC x I yy
y I yzC z j
I xxC
I xyC
I xzC
I xyC
C
I yy
I yzC
I xzC x
I yzC y
I zzC z
j
k
C
I zzC I yy
yz I yzC y2 z2 x y I xzC z I xyC i
C
xx
2
z
2
x
C
z xy
x I yzC
C
C
C
I
C xx x xy y xz z i
C
I xyC x I yy
y I yzC z j
J
I
Inertial Frame I
k
C
B / F
Body B
j
k
C
I zzC I yy
yz I yzC y2 z2 x y I xzC z I xyC i
C
xx
2
z
2
x
C
z xy
x I yzC
C
C
C
I
C xx x yy zz yz i
C
I yy
y I zzC I xxC zx j
Inertial Frame I
C
I zzC z I xxC I yy
x y k
k
C
B / F
Body B
I
I
M Cx I x I I y z
C
xx
C
M
I
C y yy y
C
M
I
Cz zz z
C
yy
C
zz
C
zz
I xxC
C
xx
I yyC
I
Inertial Frame I
k
C
B / F
Body B
10