Dynamics

The branch of physics that treats the action of force on bod-

ies in motion or at rest; kinetics, kinematics, and statics,
collectively. Websters dictionary
Outline
Conservation of Momentum
Inertia Tensors - translation and rota-
tion
Newton/Euler Dynamics
State Space, Conguration Space, and
Cartesian Forms
Lagrangian Dynamics
Simulation and Feedforward Compen-
sation
1 Copyright c 2007 by Roderic Grupen
Newtons Laws
1. the particle will remain in a state of constant rectilinear motion
unless acted on by an external force;
2. the time-rate-of-change in the momentum (mv) of the particle is
proportional to the externally applied forces, F =
d
dt
(mv);
3. and any force imposed on body A by body B is reciprocated by an
equal and opposite reaction force on body B by body A.
2 Copyright c 2007 by Roderic Grupen
Conservation of Angular Momentum
O
B
C
r
v
A
| | v

A
r
A
AB = BC = t
particle of mass m moving with
uniform rectilinear velocity v ...
Area =
1
2
vr

=
1
2
rcos() = constant
Similarly, the quantity, L = mrv

(angular momentum) is conserved

for a particle that orbits a center of rotation, i.e. the particle sweeps
out equal areas in equal times (Keplers law of planetary motion).
For a collection of such particles:
L
total
=

k
L
k
=

k
m
k
r
k
v
,k
=

k
m
k
r
2
k

k
r
k
m
k
v
in the (rigid) planar lamina illustrated

1
=

2
= . . . =

k
L
total
=
_

k
m
k
r
2
k
_

I =

k
m
k
r
2
k
(rotational moment of inertia)
[kg m
2
]
and
=
d
dt
_
I

_
= I

3 Copyright c 2007 by Roderic Grupen

Inertia Tensor
A
r
dv
x
y
z
MASS MOMENTS MASS PRODUCTS
OF INERTIA OF INERTIA
I
xx
=
_ _ _
(y
2
+ z
2
)dv I
xy
=
_ _ _
xydv
I
yy
=
_ _ _
(x
2
+ z
2
)dv I
xz
=
_ _ _
xzdv
I
zz
=
_ _ _
(x
2
+ y
2
)dv I
yz
=
_ _ _
yzdv
I =
_
_
I
xx
I
xy
I
xz
I
yx
I
yy
I
yz
I
zx
I
zy
I
zz
_
_
4 Copyright c 2007 by Roderic Grupen
EXAMPLE: Inertia Tensor of Eccentric
Rectangular Prism
x
y
z
l
h
w
A
I
xx
=
_
h
0
_
l
0
_
w
0
(y
2
+ z
2
)dxdydz
=
_
h
0
_
l
0
(y
2
+ z
2
)wdydz
=
_
h
0
_
(
y
3
3
+ z
2
y)
_
l
0
wdz
=
_
h
0
_
l
3
3
+ z
2
l
_
wdz
=
_
l
3
z
3
+
lz
3
3
_

h
0
(w)
=
_
l
3
h
3
+
lh
3
3
_
w
or, since the mass of the rectangle m = (wlh),
I
xx
=
m
3
(l
2
+ h
2
).
A
I =
_

_
m
3
(l
2
+ h
2
)
m
4
wl
m
4
hw
m
4
wl
m
3
(w
2
+ h
2
)
m
4
hl
m
4
hw
m
4
hl
m
3
(l
2
+ w
2
)
_

_
5 Copyright c 2007 by Roderic Grupen
Parallel Axis Theorem - Translating the Inertia
Tensor
x
y
z
A
CM
(x,y,z)
A
CM
the moments of inertia look like:
A
I
zz
=
CM
I
zz
+ m(
A
x
2
CM
+
A
y
2
CM
),
and the products of inertia are:
A
I
xy
=
CM
I
xy
+ m(
A
x
CM
A
y
CM
).
6 Copyright c 2007 by Roderic Grupen
EXAMPLE: The Symmetric Rectangular
Prism
x
y
z
l
h
w
A
CM
CM
I
zz
=
A
I
zz
m(
A
x
2
CM
+
A
y
2
CM
)
=
m
3
(l
2
+ w
2
)
m
4
(l
2
+ w
2
)
=
m
12
(l
2
+ w
2
)
and
CM
I
xy
=
A
I
xy
m(
A
x
CM
A
y
CM
)
=
m
4
(wl)
m
4
(wl) = 0.
resulting in the diagonalized inertia tensor
CM
I =
m
12
_

_
(l
2
+ h
2
) 0 0
0 (w
2
+ h
2
) 0
0 0 (l
2
+ w
2
)
_

_
7 Copyright c 2007 by Roderic Grupen
Rotating the Inertia Tensor
angular momentum L
0
= I
0
about frame 0 in a vector quantity that
is conserved.
we can express it relative to frame 1 as
L
1
=
1
R
0
L
0
or
I
1

1
= R(I
0

0
)
= RI
0
R
T
R
0
and therefore,
I
1
= RI
0
R
T
.
8 Copyright c 2007 by Roderic Grupen
Rotating Coordinate Systems
Denition (Inertial Frame)
the frame where the absolute state of motion is completely known
Let frame A be an inertial frame. Frame B has an absolute velocity,

B
B
(written in terms of frame B coordinates).
r
A
(t) =
A
R
B
(t)r
B
(t)
r
A
(t) =
A
R
B
(t)
d
dt
[r
B
(t)] +
d
dt
[
A
R
B
(t) ]r
B
(t)
y
x
z

x
To evaluate the second term on the
right, consider how the x, y, and z,
basis vectors for frame B change by
virtue of
B
.

x =
z
y
y
z

y =
z
x
x
z

z =
z
y
y
z
so
d
dt
[
A
R
B
(t) ]r
B
(t) =
_
_
0
z

y

z
0
x

y

x
0
_
_
_
_
r
x
r
y
r
z
_
_
= r
9 Copyright c 2007 by Roderic Grupen
Rotating Coordinate Systems
Therefore,
r
A
(t) =
A
R
B
(t)
d
dt
[r
B
(t)] +
d
dt
[
A
R
B
(t) ]r
B
(t)
=
A
R
B
_
r
B
+ (
B
B
r
B
)

and, in fact, all vector quantities expressed in local frames that are
moving relative to an inertial frame are dierentiated in this way
d
dt
[
A
R
B
(t)()
B
] =
A
R
B
_
d
dt
()
B
+ (
B
()
B
)
_
10 Copyright c 2007 by Roderic Grupen
Rotating Coordinate Systems: Low Pressure
Systems
Low pressure systems are regions in which large scale atmospheric ows
converge. For the stationary (nonrotating) planet, this would result in
ow lines directed radially inward.

( v)
v
L
L
But the earth rotates...
the atmospheric ow can be de-
scribed in terms of a stationary in-
ertial frame A and a rotating frame
B attached to the earth
v
A
=
A
R
B
(t)v
B
v
A
=
A
R
B
[ v
B
+ ( v
B
)]
so that an observer that travels with
frame B:
v
B
=
B
R
A
[ v
A
] ( v
B
)
...a convergent ow and a rotating system, therefore, leads to a coun-
terclockwise ow in the northern hemisphere and a clockwise rotation
in the southern hemisphere.
11 Copyright c 2007 by Roderic Grupen