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[4] [5] [6] A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system. Then, using arguments from geometry, the position, velocity and acceleration of any unknown parts of the system can be determined.
From this point of view the kinematics equations can be used in two different ways. The first called forward kinematics uses specified values for the joint parameters to compute the end-effector position and orientation. The second called inverse kinematics uses the position and orientation of the end-effector to compute the joint parameters ...
Chapter 1: Vectors and Kinematics; Chapter 2: Newton's Laws; Chapter 3: Forces and Equations of Motion; Chapter 4: Momentum; Chapter 5: Energy; Chapter 6: Topics in Dynamics; Chapter 7: Angular Momentum and Fixed Axis Rotation; Chapter 8: Rigid Body Motion; Chapter 9: Non-Inertial Systems and Fictitious Forces; Chapter 10: Central Force Motion
There are two main descriptions of motion: dynamics and kinematics.Dynamics is general, since the momenta, forces and energy of the particles are taken into account. In this instance, sometimes the term dynamics refers to the differential equations that the system satisfies (e.g., Newton's second law or Euler–Lagrange equations), and sometimes to the solutions to those equations.
The two-body problem is solved by formulas involving parameters; their values can be changed to study the class of all solutions, that is, the mathematical structure of the problem. Moreover, an accurate mental or drawn picture can be made for the motion of two bodies, and it can be as real and accurate as the real bodies moving and interacting.
kg m s −1: M L T −1: Angular momentum about a position point r 0, L, J, S = Most of the time we can set r 0 = 0 if particles are orbiting about axes intersecting at a common point. kg m 2 s −1: M L 2 T −1: Moment of a force about a position point r 0, Torque. τ, M
Traditionally the Newton–Euler equations is the grouping together of Euler's two laws of motion for a rigid body into a single equation with 6 components, using column vectors and matrices. These laws relate the motion of the center of gravity of a rigid body with the sum of forces and torques (or synonymously moments ) acting on the rigid body.
Euler's second law states that the rate of change of angular momentum L about a point that is fixed in an inertial reference frame (often the center of mass of the body), is equal to the sum of the external moments of force acting on that body M about that point: [1] [4] [5]