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  • Space and Body Cones: Object Undergoes The Same Motion As The Body Cone

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    Kacou Fatim
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    This document summarizes three-dimensional kinematics and dynamics of rigid bodies using space and body cones and Euler angles. It describes: 1) How a precessing object undergoes the same motion as a body cone rolling on the surface of a fixed space cone, with the nutation angle related to the angle between the cones. 2) How Euler angles define the orientation of a rigid body using successive rotations about a body-fixed coordinate system and a space-fixed coordinate system, including precession, nutation, and spin angles. 3) Diagrams illustrating space and body cones modeling precession and the Euler angle rotations of a rigid body from an initial to final orientation.

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    This document summarizes three-dimensional kinematics and dynamics of rigid bodies using space and body cones and Euler angles. It describes: 1) How a precessing object undergoes the same motion as a body cone rolling on the surface of a fixed space cone, with the nutation angle related to the angle between the cones. 2) How Euler angles define the orientation of a rigid body using successive rotations about a body-fixed coordinate system and a space-fixed coordinate system, including precession, nutation, and spin angles. 3) Diagrams illustrating space and body cones modeling precession and the Euler angle rotations of a rigid body from an initial to final orientation.

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    © All Rights Reserved
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    10 views1 page

    Space and Body Cones: Object Undergoes The Same Motion As The Body Cone

    Uploaded by

    Kacou Fatim
    This document summarizes three-dimensional kinematics and dynamics of rigid bodies using space and body cones and Euler angles. It describes: 1) How a precessing object undergoes the same motion as a body cone rolling on the surface of a fixed space cone, with the nutation angle related to the angle between the cones. 2) How Euler angles define the orientation of a rigid body using successive rotations about a body-fixed coordinate system and a space-fixed coordinate system, including precession, nutation, and spin angles. 3) Diagrams illustrating space and body cones modeling precession and the Euler angle rotations of a rigid body from an initial to final orientation.

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    © All Rights Reserved
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    of 1

    522 Chapter 20 Three-Dimensional Kinematics and Dynamics of Rigid Bodies

    Space and Body Cones


    Z
    A way to visualize moment-free Z Space
    steady precession. The space Space u cone
    u cone
    cone is fixed in space. The body
    cone rolls on the surface of the z
    y z
    b
    space cone. The precessing
    object undergoes the same f
    b
    motion as the body cone. The
    Body
    angle b is related to the nutation
    Y cone
    angle by
    Izz
    tan b # ! "
    Ixx
    tan u. Body
    cone
    c x

    X
    Z
    z
    u Space
    b cone
    y
    If b $ u, the interior surface of
    the body cone rolls on the
    exterior surface of the space
    cone.
    Y
    Body
    cone
    c x

    Euler Angles for an Arbitrary Object


    Z, z Z , z!

    y!

    Y, y Y

    The xyz coordinate system is body


    fixed and aligned with the primary X, x X c x!
    XYZ coordinate system in the initial
    (a) (b)
    orientation (a). The precession
    angle c is a rotation of the object
    about the Z axis (b). The nutation Z , z! y
    y" y"
    angle u is a rotation of the object
    about the x¿ axis (c). The spin angle
    z", z x
    f is a rotation of the object about u
    the z– axis (d). z"
    y!
    f
    Y

    x"
    X c x!, x"

    (c) (d)

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