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Original Title: Me 659 Acceleration Realtive Coordinates

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Me 659 Acceleration Realtive Coordinates

Acceleration Realtive Coordinates

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Velocities

Consider again the two-body system

shown. In previous notes, we found that

the inertial components of R vG2 the

velocity of G2 in the inertial frame R may

be written as

vG s1 q2 s2 r2 B CB s2 r2 CB B

(1)

vG s1 CB q2 s2 B CB r2 CB / B B

CB s2 CB r2 B

(2)

or

The first equation is written in terms of the inertial components of R B1 and the B1 bodyfixed components of

B1

components of B1 and B2 .

R

B1

Accelerations

Case 1: Angular Velocity Components as Generalized Speeds

If we define the generalized speeds to be the elements of s1 , s2 , B1 , and B2 ,

then we can write

v v

G2

1

2

G2 ,s1

(3)

where

vG , q2 s2 r2

2 B1

vG2 ,s2 CB1

vG , r2 CB

1

2 B2

and where vG2 ,s1 is a 3 3 identity matrix. The inertial components of the acceleration

of G2 can then be written as

1/3

a v

G2

s1 vG2 ,B B1 vG2 ,B B1

1

1

vG2 ,s2 s2 vG2 ,s2 s2 vG2 , B B2 vG2 , B B2

2

2

G2 , s1

(4)

vG2 ,s2 CB1 B1 CB1

(5)

vG , q2 s2 r2

2 B1

(6)

d

dt

d

s2

dt

d

r2

dt

q2

C

C

C

B1

B1

B2

s C

r C

q2 CB1 q2 B1 CB1 q2

(7)

B1

(8)

B2

r2 B2 CB2 r2

(9)

vG , r2 CB r2 CB r2 CB r2 B CB

1

1

1

1 1

2 B2

(10)

Case 2: Orientation Angle Derivatives as Generalized Speeds

If we define the generalized speeds to be the elements of s1 , s2 , B1 , and B2 ,

then we can rewrite Eq. (1) as follows:

v s q s r C s r C

s q s r C s r

s v

v s v v

G2

B1

B1 ,

G2 ,s1

G2 ,

B1

B1

B1

B1

B1

G2 ,s2

B1

B1

G2 ,

B2

B2

B2 ,

B2

B2

(11)

B2

where

2/3

v

q s r

2

2

2

G2 ,B1

B1 ,B1

vG2 ,s2 CB1

v

r

2

G2 ,B2

B2 ,B2

and where vG2 ,s1 is a 3 3 identity matrix. The partial angular velocity matrices are

defined in previous notes for a 1-2-3 rotation sequence.

The inertial components of the acceleration of G2 can then be written as

a v

G2

2 B1

2 B1

vG , B2 vG , B2

2 B2

2 B2

G2 ,s1

(12)

where

v

q s r

2 2 2 B1 ,B1 q2 s2 r2 B1 ,B1

G2 ,B1

vG2 ,s2 CB1 B1 CB1

v

r

2 B2 ,B2 r2 B2 ,B2

G2 ,B2

Note: Similar expressions could be derived from Eq. (2) when using body-fixed angular

velocity components.

3/3

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