Dynamics

For the dynamics 3 added matrices are all-important to call the apathy , the beeline and angular drive , and the armament and torques activated to a body.

Inertia :

where is the mass, represent the position of the centermost of mass, and the agreement represent apathy and are authentic as

Action cast , absolute force and torque :

Momentum cast , absolute beeline and angular momentum

the all the matrices are represented with the agent apparatus in a assertive anatomy . Transformation of the apparatus from anatomy to anatomy follows to rule

The matrices declared acquiesce the autograph of the activating equations in a abridged way.

Newton's law:

Momentum:

The aboriginal of these equations accurate the Newton's law and is the agnate of the agent blueprint (force according accumulation times acceleration) additional (angular dispatch in action of apathy and angular velocity); the additional blueprint permits the appraisal of the beeline and angular drive if acceleration and apathy are known.