Rigid Body Dynamics

  1. Three-Dimensional Kinematics of a Rigid Body
    1. Position and Orientation in 3D
      1. Position Vectors in 3D
        1. Fixed-Point Rotation
          1. Translation and Rotation
            1. Euler's Theorem on Rotations
            2. Representing Orientation
              1. Euler Angles
                1. Definition and Sequence
                  1. Applications and Limitations
                  2. Rotation Matrices
                    1. Properties of Rotation Matrices
                      1. Composition of Rotations
                    2. Angular Velocity and Acceleration in 3D
                      1. Instantaneous Axis of Rotation
                        1. General Expression for Angular Velocity
                          1. Angular Acceleration Vector
                          2. General Motion in 3D
                            1. Chasles' Theorem
                              1. Velocity Analysis in 3D
                                1. Acceleration Analysis in 3D
                                2. Time Derivative of a Vector in a Rotating Frame
                                  1. The Rotating Frame Formula
                                    1. Application to Velocity
                                      1. Application to Acceleration

                                    Previous

                                    5. Planar Kinetics of a Rigid Body: Impulse and Momentum

                                    Go to top

                                    Next

                                    7. Three-Dimensional Kinetics of a Rigid Body