Angular Velocity Absolute Coordinates

© All Rights Reserved

12 views

Angular Velocity Absolute Coordinates

© All Rights Reserved

- Mastering Physics Ch 02 HW College Physics I Brian Uzpen LCCC
- P131 Problem Set 1
- Kinematic Analysis of an A.G.V
- Basic Mathematics
- Position Analysis of Mechanisms
- Physics Formulas and Concepts
- 9th test
- Physics Formulas and Concepts
- STEP 3 2015
- Moments
- ch12aa
- Physics Formulas and Concepts
- Graph Matching Motion Detector Activity
- 12_Mora_Paz_et_al
- Engineering Mechanics Notes
- Sow Ce62021-2-Malg 16 Weeks
- LEC 03 (Curveliniear 051
- Abhishek Manjrekar CBA Exam Abhishek M 71310002 271
- Chapter 6
- Reduction of a 3D Problem to 2D Problem

You are on page 1of 4

Angular Velocity: 1-2-3 Rotation Sequence , ,

Given a rigid body B : e1, e2 , e3 moving in a fixed reference frame R : N1, N2 , N3 , we

define a set of intermediate reference frames R : N1, N2 , N3 and R : N1, N2, N3 as in

previous notes. The angular velocity of the body may then be written as

B RR RR RB 1N1 2 N2 3 N3

Using the definitions of the transformation matrices presented earlier, we can write

N C N

T

T

T

N C N C C N

T

The inertial components of N 2 are given by the second row of C or the second

T

or the third column of C C . Hence, we can express the inertial components of the

T

S2 1

1 1 0

2 0 C1 S1C2 2

0 S

C1C2 3

1

3

"Inertial Components"

(1)

We can use the same approach to determine an equation for the body-fixed

components, or we can simply use the results presented in Appendix II of Kane, Likins,

and Levinson, Spacecraft Dynamics, McGraw-Hill, 1983. Using those results,

1 C2C3 S3 0 1

2 C2 S3 C3 0 2

S

0 1 3

3 2

"Body-Fixed Components"

(2)

1/4

The partial angular velocities of B are the partial derivatives of R B with respect to

i (i 1,2,3) .

R B

N1

1

R B

N 2

2

R B

N3

3

components. Using inertial components, we have

1

R B

B ,1 0

1

0

0

R B

B , 2 C1

2

S

1

S2

R B

B ,3 S1C2

3

CC

1 2

S2

1 0

B , 0 C1 S1C2

0 S1 C1C2

"Inertial Components"

(3)

Using the same process, we can define the body-fixed components of the partial velocity

vectors as a single matrix as

C2C3 S3 0

B , C2 S3 C3 0

S2

0 1

"Body-Fixed Components"

(4)

Note: We can define different forms of the partial angular velocity matrices associated

with each of the different orientation angle sets.

2/4

Speeds

It is obvious from the presentation below that this choice of generalized speeds

simplifies the partial angular velocity matrices.

Inertial Components

If we use the inertial components of R B as the generalized speeds, then the partial

angular velocities are

R B

N1

1

R B

N2

2

R B

N3

3

1 0 0

B , 0 1 0

0 0 1

"Inertial Components"

(5)

Body-Fixed Components

If we use the body-fixed components of R B as the generalized speeds, then the partial

angular velocities are

R B

e1

1

R B

e2

2

R B

e3

3

1 0 0

B , 0 1 0

0 0 1

"Body-Fixed Components"

(6)

3/4

If we use Euler parameters to describe the angular motion of a rigid body B, then from

previous notes, we can write the inertial and body-fixed components of the angular

velocity as

{} 2[ E ]{ }

"Inertial Components"

{ } 2[ E]{ }

"Body-Fixed Components"

Recall that in this case, {} and { } are 4 1 vectors. The first three elements of the

vectors are the components of R B and the last element is zero.

From these equations, we could define a set of partial angular velocities associated with

the Euler parameters. These are not particularly useful, however, because the Euler

parameters are not independent. In this case, it is natural to use the angular velocity

components as the generalized speeds as discussed above.

4/4

- Mastering Physics Ch 02 HW College Physics I Brian Uzpen LCCCUploaded bySamuel
- P131 Problem Set 1Uploaded byTy
- Kinematic Analysis of an A.G.VUploaded byKrishna Vinny
- Basic MathematicsUploaded byeshwerprasad
- Position Analysis of MechanismsUploaded byTalha Naeem Rao
- Physics Formulas and ConceptsUploaded bychand7790
- 9th testUploaded byYaqub Khan
- Physics Formulas and ConceptsUploaded byGeetha Balakrishnan
- STEP 3 2015Uploaded byΘωμαςΣτεφανιδης
- MomentsUploaded byKing Everest
- ch12aaUploaded byfastidious_5
- Physics Formulas and ConceptsUploaded byHarshith Ch
- Graph Matching Motion Detector ActivityUploaded byalester314
- 12_Mora_Paz_et_alUploaded byg665013
- Engineering Mechanics NotesUploaded byscorpionarnold
- Sow Ce62021-2-Malg 16 WeeksUploaded byAakash Bathla
- LEC 03 (Curveliniear 051Uploaded byTommyVercetti
- Abhishek Manjrekar CBA Exam Abhishek M 71310002 271Uploaded bysonalz
- Chapter 6Uploaded bySudeep Sharma
- Reduction of a 3D Problem to 2D ProblemUploaded byImran Shahzad Khan
- calculus formulasUploaded byapi-223036557
- lec1Uploaded bylechu-92
- MScThesis_ikpeddleUploaded byMircea Bujor
- Antony W. - Brackett C. Elementary text book of physics 1902.pdfUploaded byΙωάννης Ανυφαντάκης
- Physics Lecture One - KinematicsUploaded byJoshua Lin
- Velocity Analysis | Mechanics of MachinesUploaded byMalik Junaid
- 2 Kuliah Gaya & PenjumlahannyaUploaded byAndika Rani
- Review Notes in PhysicsUploaded byroxy8marie8chan
- Exercises About Vectors (1)Uploaded byGuadalupe Muñiz Carmona
- 1 Physics 6A Vector Examples.pdfUploaded byAngelineBagtas

- Me 659 Angular Velocity Orientation AnglesUploaded byamir
- Me 659 Angular Velocity Euler ParametersUploaded byamir
- Me 659 Angular Acceleration Absolute CoordinatesUploaded byamir
- Me 659 Acceleration Realtive CoordinatesUploaded byamir
- Me 659 Acceleration Absolute CoordinatesUploaded byamir
- Engineering Standrad for Piping and Instumention DrawingUploaded byNeo

- Is-10810_1 Methods of Test for CablesUploaded bypankajnbi
- 1_1-9-Bhavar-Dadasaheb-O.-et-al.pdfUploaded byLasantha Dadallage
- PrimoUploaded byAnaid G
- Exp. 2 Pneumatic Control of a Double-Acting CylinderUploaded byLuke-man Akim
- standardsUploaded byAdil Hasanov
- Know Your Differential EC 12.97Uploaded byRazvan Cristea
- Steel Load TablesUploaded byLoh Chung Tat
- Belden 8760 data sheet.pdfUploaded byJoni Efwan
- Pb 52 File Slug CatcherUploaded byam198801
- Summer (2010) Two circular cylinders in cross-flow. A Review.pdfUploaded byLisa Poole
- lecture_6_influence_lines.pdfUploaded byAnusha Adavikottu
- 21 feb 2014Uploaded byAnandraj Govindaraj
- ReachStacker_SpecSheetUploaded byFadhlan Ros
- STEEL AND TIMBER REPORT COMPILED (AAA).pdfUploaded byLee Chen Choon
- 4-Flow Pattern Transition Models and Correlations for Flow Boiling in Mini-tubesUploaded byRamalho12345
- 016 TS Hardox Cutting of Hardox Wear Plate UKUploaded byomni_parts
- Turbo Generator & Its AuxiliariesUploaded byPapun Scribd
- B Stoffel Europump 6 October 2011.pdfUploaded byDANE80
- Dynamics of rigid bodiesUploaded byFelichi Dacumos Balajadia
- CR-2004-213410Uploaded byDhanush Nambrath
- Shinwa Cooling TowersUploaded byFREDIELABRADOR
- RHS2100-LST_Marine Systems.pdfUploaded byOscar Cherro
- Chapter 11Uploaded byPaulo Azañero
- Strain Gages BridgesUploaded byK
- 07a80106 Pavement Analysis and DesignUploaded bySharanya Thirichinapalli
- Gyroscope 29-04-15 Lecture 2Uploaded byRaghav Sharma
- Design Example 2-Way SlabUploaded byJimmy Domingo
- Info RequiredUploaded byjukeboss
- Unit 1 Properties of FluidsUploaded byVinay Korekar
- Topworx Valvetop D-Series With GO Switches ManualUploaded byJuan Luis

## Much more than documents.

Discover everything Scribd has to offer, including books and audiobooks from major publishers.

Cancel anytime.