Orientation Kinematics

  • Reza N. Jazar


Two parameters are necessary to define the direction of a line through O and one is necessary to define the amount of rotation of a rigid body about this line. Let the body frame B(Oxyz) rotate ϕ about a line indicated by a unit vector û with direction cosines u 1, u 2, u 3
$$ \hat u = u_1 \hat I + u_2 \hat J + u_3 \hat K $$
$$ \sqrt {u_1^2 + u_2^2 + u_3^2 } = 1. $$


Rigid Body Transformation Matrix Coordinate Frame Rotation Matrix Euler Angle 
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Copyright information

© Springer Science+Business Media, LLC 2007

Authors and Affiliations

  • Reza N. Jazar
    • 1
  1. 1.Department of Mechanical EngineeringManhattan CollegeRiverdale

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