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Notes
- 1.
In the rigid-body case, the coordinate frame \(\mathcal{F}_{1}\) is the body frame.
- 2.
To simplify the notation, we shall use \(\dot{a}\) to represent the time derivative \(\frac {d a}{dt}\).
References
Baraff, D., Witkin, A.: Physically based modeling. SIGGRAPH Course Notes 13 (1998)
Gradshteyn, I.S., Ryzhik, I.M.: Table of Integrals, Series and Products. Academic Press, San Diego (1980)
Mirtich, B.V.: Impulse-based dynamic simulation of rigid body systems. PhD Thesis, University of California, Berkeley (1996)
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Coutinho, M.G. (2013). Appendix E: Useful Time Derivatives. In: Guide to Dynamic Simulations of Rigid Bodies and Particle Systems. Simulation Foundations, Methods and Applications. Springer, London. https://doi.org/10.1007/978-1-4471-4417-5_10
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