Rigid body kinematics — basic knowledge

  • A. I. Lurie
Part of the Foundations of Engineering Mechanics book series (FOUNDATIONS)


As mentioned in Chapter 1 rigid bodies and systems of rigid bodies are the most important objects of analytical mechanics. For this reason it is a worthwhile exercise to briefly review the basic formulae for rigid body kinematics and discuss some special problems in greater detail.


Rigid Body Direction Cosine Principal Plane Unit Base Vector Angular Velocity Vector 
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© Springer-Verlag Berlin Heidelberg 2002

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  • A. I. Lurie

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