Appendix 2

Definition of the coordinate frames and transformation

matrices used in the modeling of ball bearings

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Basically, the different coordinate frames used to determine the internal kinematics of ball
bearings are shown in figure 3 page 27. The RG coordinate frame, with its origin at the bearing
center, is fixed in space, and is referred to as the inertial coordinate frame. The applied loads
on the bearing are prescribed in these coordinates, the thrust load on the bearing being along
the xG axis. Both rings are rotating about the fixed xG axis. The R5 coordinate frame is fixed in
the rolling element. This frame of reference is used for formulating the rotational motion of
the ball. The Cartesian coordinate frames commonly used for vector transformations are
defined below, as well as transformation matrices. Transformation matrices are orthogonal.
All coordinate frames conform to the right-hand screw rule.
RG (OG,xG,yG,zG) Inertial (space fixed) coordinate frame, with its origin OG at the bearing
center. The inner- and outer-ring rotational axes are coincident to the xG
axis.
Ro (Oo,xo,yo,zo) Coordinate frame fixed in the outer ring along its principal axis of inertia
with the polar axis being along the xo axis. The rotational speed of the
outer ring ωo is about the xo axis. Its origin Oo, which is the mass center of
the outer ring, coincides with the origin OG of the inertial coordinate frame.
The xo and the xG axes are coincident.
& &
ΩGo = ω o .xG,o
Ri (Oi,xi,yi,zi) Coordinate frame fixed in the inner ring along its principal axis of inertia,
with the xi axis oriented along the polar axis. Its rotational speed is along
the xi axis and its origin is the inner ring mass center. The xi and the xG
axes are collinear.
& &
ΩGi = ω i .xG,o,i
R1 (O1,x1,y1,z1) Azimuth frame with the x1 axis parallel to the xG bearing axis, the y1 axis
pointing radially outward and the z1 axis determined by the right-hand
screw rule. Its origin O1 coincides to OG≡Oo. The x1 and the xG axes are
collinear.
& &
Ω1G = ω m .xG,o,i,1
R2 (O2,x2,y2,z2) Azimuth frame with the x2 axis parallel to the xG axis of the fixed frame.
This coordinate frame has its origin O2 at the ball mass center&and rotates
&
at orbital speed ωm about the fixed xG axis at radius (1/2 dm+ δ b . y 2 ). The
&
vector δ b is the displacement vector of the ball (from its initial position to
its final position), due to a combination of the centrifugal force acting on
the ball and the thrust load applied to the bearing.

 x 2  1 0 0  x1   
0
& &  &
Ω12 = 0       d
 y 2  = 0 1 0. y1  +  m 2  + δ b
 z  0 0 1   z   
 2    1  0
 

R3 (O3,x3,y3,z3) Intermediate coordinate frame with origin at the ball mass center and
rotating at orbital speed ω m. The angle between the y3 axis and y2 axis on
the x2y2 plane is β'. The gyroscopic moment about the z3 axis produces a
rotation of the ball about this axis.

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 & &  x 3  cos β ' 0 − sin β '  x 2 
    
Ω23 = 0  y3  =  0 1 0 . y 2 
 z   sin β ' 0 cos β '   z 
 3   2
R4 (O4,x4,y4,z4) Intermediate coordinate frame with origin O4 at the ball center O2≡O3 and
rotating at orbital speed ωm. The x4 axis is collinear with the axis of
rotation of the ball about its own center. The y4 axis is in the plane of the
x4 axis and y3 axis; the angle β about the z4 axis is due to the centrifugal
force acting on balls.
& &  x 4   cos β sin β 0  x 3 
    
Ω34 = 0  y 4  = − sin β cos β 0. y 3 
z   0 1  z 3 
 4  0

R5 (O5,x5,y5,z5) Coordinate frame fixed in the rolling element along the principal axes of
inertia. The ball rotates about its own center O5 at the angular velocity ωr
about the x5 axis. The frame center is the ball mass center O5 and coincides
with O2≡O3≡O4. The x4 and the x5 axes are collinear.
& &
Ω54 = ω r .x4,5
Ro' (Co,Xo,Yo,Zo) Ball / outer ring contact coordinate frame with the Xo and Zo axes in the
plane of contact (Xo along the major, and Zo along the minor axis of the
contact ellipse), and the Yo axis normal to the contact plane in accordance
to the right-hand screw rule. Its origin Co coincides with the center of the
contact ellipse and rotates at orbital speed ωm about the fixed xG axis. The
Zo axis is collinear to the z2 axis. The angle αo between the y1≡y2≡y3 axis
and Yo axis is the contact angle at the outer ring contact.

& &  x o '   cos α o sin α o 0  x 2 

    
Ω2o' = 0  y o '  = − sin α o cos α o 0. y 2 
z   0 1  z 2 
 o'   0

Ri' (Ci,Xi,Yi,Zi) Ball / inner ring contact coordinate frame with the Xi and Zi axes in the
plane of contact (Xi along the major, and Zi along the minor axis of the
contact ellipse), and the Yi axis normal to the contact plane in accordance
to the right-hand screw rule. Its origin Ci coincides with the center of the
contact ellipse and rotates at orbital speed ωm about the fixed xG axis. The
Zi axis is collinear to the z2 axis but points in the opposite direction. The
angle αi between the {O2O1} vector and the Yi axis is the contact angle at
the inner ring contact.
& &  x i '  − cos α i − sin α i 0  x 2 
    
Ω2i' = 0  y i '  =  + sin α i − cos α i 0. y 2 
z   0 1  z 2 
 i'   0

These definitions are useful to determine the rolling, sliding and spinning speeds at the inner-
and outer-contact ellipses. As discussed below, it is possible to reduce the relative movement
of the contacting surfaces at the ball / outer ring contact to sliding along the Xo and Zo axes
and spinning about the Yo axis (respectively Xi, Zi and Yi at the ball / inner ring contact
ellipse).

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