Kinematical Equations of Motion

  • Robert E. Roberson
  • Richard Schwertassek


The position state and velocity state of a rigid body are known once position and velocity of every point of the body can be determined from sets of variables which have been called position variables and velocity variables. These variables may be independent or interrelated, but at least six independent variables are required to represent the corresponding states of an unconstrained rigid body.


Constraint Equation Mode Vector Kinematical Equation Nonholonomic Constraint Prismatic Joint 
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Copyright information

© Springer-Verlag Berlin Heidelberg 1988

Authors and Affiliations

  • Robert E. Roberson
    • 1
  • Richard Schwertassek
    • 2
  1. 1.Dept. of Applied Mechanics and Engineering SciencesUniversity of California, San DiegoLa JollaUSA
  2. 2.Institut für Dynamik der FlugsystemeDeutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt (DFVLR)WeßlingGermany

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