Advanced Engineering

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

This course is an advanced study of bodies in motion as applied to

engineering systems and structures.

School of Mechanical Engineering

 Module 15 Learning Outcome
 Derive rotation transformation matrices.

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Handy work-savers to do rotations quickly Express an 
Rotation Matrices arbitrary vector Q
In both frames:
ĵ  z Ĵ 
 Q  QX Iˆ  QY Jˆ  QZ Kˆ
Q
Frame B iˆ 
z Q  Qx iˆ  Qy ˆj  Qz kˆ
Iˆ
 Frame F

K̂ k̂

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Rotation
 Matrices ĵ  z Ĵ

Q  QX Iˆ  QY Jˆ  QZ Kˆ Q
 Frame B iˆ
Q  Qx iˆ  Qy ˆj  Qz kˆ z
Dot 1st equation by iˆ Iˆ

      
k̂ Frame F
Q  iˆ  QX Iˆ  iˆ  QY Jˆ  iˆ  QZ Kˆ  iˆ K̂

Qx  QX cos  Z  QY sin  Z  0
Similarly
Qy  QX  sin  Z   QY cos  Z

Qz  QZ
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 ĵ  z Ĵ
Qx  QX cos  Z  QY sin  Z  0
Qy  QX  sin  Z   QY cos  Z 
Q
Qz  QZ Frame B iˆ
Easy way of expressing vectors z
in the rotated reference frame
Iˆ
Matrix form: k̂
 Frame F
Qx   cos  Z sin Z 0 Q X  K̂
    
Q y    sin  Z cos  Z 0  QY 
Q   0 1 QZ 
 z  0

   
 
QB  TZ  QF
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 Matrix form: ĵ  z Ĵ

Q
Qx   cos  Z sin Z 0 Q X  Frame B iˆ
    
Q y    sin  Z cos  Z 0  QY  z
Q   0 1 QZ  Iˆ
 z  0 k̂
 Frame F

   
K̂
 
QB  TZ  QF

Rotation Transformation Matrix

For rotation about Z-axis

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 Qx   cos  Z sin Z 0 Q X 
    
Q y    sin  Z cos  Z 0  QY 
Q   0 1 QZ 
 z  0

   
  Frame F Frame B
QB  TZ  QF
Similarly
1 0 0 
TX   0 cos  X sin  X 
0  sin  X cos  X 

cos  Y 0  sin  Y 
TY    0 1 0 
 sin  Y 0 cos  Y 
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 Qx   cos  Z sin Z 0 Q X 
    
Q y    sin  Z cos  Z 0  QY 
Q   0 1 QZ 
 z  0

   
 
QB  TZ  QF Frame F Frame B
Similarly
1 0 0 
TX   0 cos  X sin  X  NOTE:
0  sin  X cos  X  Each [T] is a “Rotation
cos  Y 0  sin  Y 
Transformation Matrix”
TY    0 0 
 sin  Y
1
0 cos  Y 
T T  T 1
[T] is “Orthonormal
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