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In classical mechanics, Euler's rotation equations are a vectorial quasilinear first-order ordinary differential equation describing the rotation of a rigid body, using a rotating reference frame with angular velocity ω whose axes are fixed to the body. They are named in honour of Leonhard Euler. Their general vector form is
The derivative of a vector is the linear velocity of its tip. Since A is a rotation matrix, by definition the length of r(t) is always equal to the length of r 0, and hence it does not change with time. Thus, when r(t) rotates, its tip moves along a circle, and the linear velocity of its tip is tangential to the circle; i.e., always ...
This equation has exactly the form of Newton's second law, except that in addition to F, the sum of all forces identified in the inertial frame, there is an extra term on the right...This means we can continue to use Newton's second law in the noninertial frame provided we agree that in the noninertial frame we must add an extra force-like term ...
From the foregoing, you can see that the time domain equations are simply scaled forms of the angle domain equations: is unscaled, ′ is scaled by ω, and ″ is scaled by ω². To convert the angle domain equations to time domain, first replace A with ωt , and then scale for angular velocity as follows: multiply x ′ {\displaystyle x'} by ...
In the theory of three-dimensional rotation, Rodrigues' rotation formula, named after Olinde Rodrigues, is an efficient algorithm for rotating a vector in space, given an axis and angle of rotation. By extension, this can be used to transform all three basis vectors to compute a rotation matrix in SO(3) , the group of all rotation matrices ...
The linear motion can be of two types: uniform linear motion, with constant velocity (zero acceleration); and non-uniform linear motion, with variable velocity (non-zero acceleration). The motion of a particle (a point-like object) along a line can be described by its position x {\displaystyle x} , which varies with t {\displaystyle t} (time).
A common form is the constant lead cam, where the displacement of the follower is linear with rotation, such as the scroll plate in a scroll chuck. Non-invertible functions, which require the groove to self-intersect, can be implemented using special follower designs. Sash window lock, traditional cam style, for double-hung sash window
For a rotating object, the linear distance covered at the circumference of rotation is the product of the radius with the angle covered. That is: linear distance = radius × angular distance. And by definition, linear distance = linear speed × time = radius × angular speed × time. By the definition of torque: torque = radius × force.