DOCSLIB.ORG

Newton-Euler Equations

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Newton-Euler Equations MEAM 535 Newton-Euler Equations From Dynamics of Systems of Particles to Rigid Body Dynamics University of Pennsylvania 1 MEAM 535 Outline 1. Newton’s 2nd Law for a particle - recap 2. Newton’s 2nd Law for a system of particles - recap 3. Center of mass, F=ma for the system of particles 4. Angular momentum (relative to O or the center of mass) 5. Newton’s 2nd Law for Rigid Body Motion - F=ma - Rotational equation of motion 6. Principal axes and moments of inertia 7. Newton-Euler equations of motion University of Pennsylvania 2 MEAM 535 Newton’s Second Law for a Particle Newton’s Second Law for a particle P Position vector p in an inertial frame A F is the force acting on the particle, mass m P m a2 Linear momentum in A p Angular Momentum of the system S relative to O in A O a1 N A A P d p HO = ∑p × m i=1 dt a3 Rate of change of angular and linear momentum in A A € A d L d AHP =… O =… dt dt University of Pennsylvania 3 € € MEAM 535 Newton’s Second Law for a System of Particles Newton’s Second Law for a particle P Position vector p in an inertial frame A F is the force acting on the particle, mass m Pi mi a Linear momentum in A 2 pi O a Extend to many particles 1 Mass mi at Pi F is the external force acting on P i i a3 Fij is the force exerted by Pj on Pi University of Pennsylvania 4 MEAM 535 Center of Mass Define Newton’s Second Law j Fij k i Fik Fi P a i 2 mi pi O a1 a3 University of Pennsylvania 5 MEAM 535 Newton’s Second Law for a System of Particles The center of mass for a system of particles, S, accelerates in an inertial frame (A) as if it were a single particle with mass m (equal to the total mass of the system) acted upon by a force equal to the net external force. Center of mass Conservation of Linear Momentum The linear momentum of a system of particles stays constant in an inertial frame (A) if the net external force equals zero. University of Pennsylvania 6 MEAM 535 Outline 1. Newton’s 2nd Law for a particle - recap 2. Newton’s 2nd Law for a system of particles - recap 3. Center of mass, F=ma for the system of particles 4. Angular momentum (relative to O or the center of mass) 5. Newton’s 2nd Law for Rigid Body Motion - F=ma - Rotational equation of motion 6. Principal axes and moments of inertia 7. Newton-Euler equations of motion University of Pennsylvania 7 MEAM 535 Angular Momentum of a System of Particles Angular Momentum of Pi relative to O in A Angular Momentum of Pi relative to C in A Note: C is not fixed in A P i Angular Momentum of the system mi S relative to O in A ri pi rC Angular Momentum of the system O a1 S relative to C in A a3 University of Pennsylvania 8 MEAM 535 Rate of Change of Angular Momentum relative to O Angular Momentum of the system S relative to O in A Resultant moment of all external forces acting on the system S about (relative to) O P i The rate of change of angular mi momentum of the system S relative to O in A is equal to the resultant moment of ri pi all external forces acting on the system relative to O rC O a1 Notes: (1) A is inertial; and Note (2) O is fixed in A a3 University of Pennsylvania 9 MEAM 535 Rate of Change of Angular Momentum relative to C Angular Momentum of the system S relative to C in A Resultant moment of all external forces acting on the system S about (relative to) C Pi mi 0 0 ri pi The rate of change of angular momentum of the system S relative to C rC in A is equal to the resultant moment of O a1 all external forces acting on the system relative to C a3 University of Pennsylvania 10 MEAM 535 Principles of Conservation of Angular Momentum for a System of Particles (1) The angular momentum of S relative to O is constant in A (2) The angular momentum of S relative to C is constant in A University of Pennsylvania 11 MEAM 535 Examples 1 Particles A and B, each of mass m, are attached to massless rods of length l which are pivoted at A and O in the horizontal plane. Solve for the velocities as a function of positions, assuming θ and φ are zero at t=0, and the rate of change of θ and φ are known to be zero and ω0 respectively at t=0. Answer 3 − 2cosφ φ˙ = ω 0 1+ sin2 φ (1− cosφ)ω 0 θ˙ = (1+ sin2 φ)(3 − 2sinφ) € University of Pennsylvania 12 € MEAM 535 Examples 2 Each of the three balls has a mass m and is welded to rigid angular frame of negligible mass. The assembly rests on a smooth horizontal surface. If a force F is applied to one bar as shown, determine (a) the acceleration of the point O and the (b) the angular acceleration of the frame. m Answer F r d b Fb = −3mr2ω O dt ( ) m r r m € University of Pennsylvania 13 MEAM 535 Outline 1. Newton’s 2nd Law for a particle - recap 2. Newton’s 2nd Law for a system of particles - recap 3. Center of mass, F=ma for the system of particles 4. Angular momentum (relative to O or the center of mass) 5. Newton’s 2nd Law for Rigid Body Motion - F=ma - Rotational equation of motion 6. Principal axes and moments of inertia 7. Newton-Euler equations of motion University of Pennsylvania 14 MEAM 535 Angular Momentum for a System of Particles that are Rigidly Connected (relative to O) B is a reference frame that is attached to the rigid body of mass m N A S HO = ∑ri × mi p˙ i i=1 N A d = p × m r + r m ∑ i i ( C i ) i i=1 dt b2 N ri A C A B = rC × m v + ∑ri × mi ( ω × ri ) p i=1 i b b1 3 C € Angular momentum Angular momentum rC of a single particle of of the rigid body due O a1€ mass m (equal to the to its rotation sum of the N masses) translating as if it a3 were attached to the center of mass C. University of Pennsylvania 15 MEAM 535 Angular Momentum for a System of Particles that are Rigidly Connected (relative to C) B is a reference frame that is attached to N the rigid body of mass m A S HC = ∑ri × mi p˙ i i=1 N A d mi = r × m r + r b ∑ i i ( C i ) 2 i=1 dt ri p N i b1 A B b3 C = ∑ri × mi ( ω × ri ) i=1 rC O a1 a3 € University of Pennsylvania 16 MEAM 535 Inertia Dyadic N A S A B Definition HC = ∑ri × mi ( ω × ri ) i=1 € A B A B IC ⋅ ω = ∑mi [(ri ⋅ ri )U − riri ]⋅ ω i=1,N m r r A B r r A B = ∑ i [( i ⋅ i ) ω − i ( i ⋅ ω )] i=1,N A B = ∑miri × ( ω × ri ) i=1,N University of Pennsylvania 17 € MEAM 535 Rotational equations of motion The rate of change of angular momentum of the system S relative to C in A is equal to the resultant moment of all external forces acting on the system relative to C What is the difficulty? University of Pennsylvania 18 MEAM 535 Outline 1. Newton’s 2nd Law for a particle - recap 2. Newton’s 2nd Law for a system of particles - recap 3. Center of mass, F=ma for the system of particles 4. Angular momentum (relative to O or the center of mass) 5. Newton’s 2nd Law for Rigid Body Motion - F=ma - Rotational equation of motion 6. Principal axes and moments of inertia 7. Newton-Euler equations of motion University of Pennsylvania 19 MEAM 535 Principal Axes and Principal Moments Principal axis of inertia u is a unit vector along a principal axis if I . u is parallel to u There are 3 independent principal axes! Principal moment of inertia The moment of inertia with respect to a principal axis, u . I . u, is called a principal moment of inertia. AωB Physical interpretation AωB B B O A B O HO and ω are not parallel! A B HO and ω are parallel! University of Pennsylvania 20 MEAM 535 Properties of the inertia matrix With respect to any origin, and any reference triad! 1. The inertia matrix is Symmetric 2. The inertia matrix is Positive Definite 3. Moments of inertia are always positive 4. Moments of inertia are the least when C is the reference point 5. It is always possible to find three distinct mutually orthogonal principal axes of inertia. [may not be unique] 6. If the reference triad is aligned with the principal axes, the products of inertia are zero University of Pennsylvania 21 MEAM 535 Outline 1. Newton’s 2nd Law for a particle - recap 2. Newton’s 2nd Law for a system of particles - recap 3. Center of mass, F=ma for the system of particles 4.
Load more

Recommended publications
  • Lecture 10: Impulse and Momentum
    ME 230 Kinematics and Dynamics Wei-Chih Wang Department of Mechanical Engineering University of Washington Kinetics of a particle: Impulse and Momentum Chapter 15 Chapter objectives • Develop the principle of linear impulse and momentum for a particle • Study the conservation of linear momentum for particles • Analyze the mechanics of impact • Introduce the concept of angular impulse and momentum • Solve problems involving steady fluid streams and propulsion with variable mass W. Wang Lecture 10 • Kinetics of a particle: Impulse and Momentum (Chapter 15) - 15.1-15.3 W. Wang Material covered • Kinetics of a particle: Impulse and Momentum - Principle of linear impulse and momentum - Principle of linear impulse and momentum for a system of particles - Conservation of linear momentum for a system of particles …Next lecture…Impact W. Wang Today’s Objectives Students should be able to: • Calculate the linear momentum of a particle and linear impulse of a force • Apply the principle of linear impulse and momentum • Apply the principle of linear impulse and momentum to a system of particles • Understand the conditions for conservation of momentum W. Wang Applications 1 A dent in an automotive fender can be removed using an impulse tool, which delivers a force over a very short time interval. How can we determine the magnitude of the linear impulse applied to the fender? Could you analyze a carpenter’s hammer striking a nail in the same fashion? W. Wang Applications 2 Sure! When a stake is struck by a sledgehammer, a large impulsive force is delivered to the stake and drives it into the ground.
    [Show full text]
  • Exercises in Classical Mechanics 1 Moments of Inertia 2 Half-Cylinder
    Exercises in Classical Mechanics CUNY GC, Prof. D. Garanin No.1 Solution ||||||||||||||||||||||||||||||||||||||||| 1 Moments of inertia (5 points) Calculate tensors of inertia with respect to the principal axes of the following bodies: a) Hollow sphere of mass M and radius R: b) Cone of the height h and radius of the base R; both with respect to the apex and to the center of mass. c) Body of a box shape with sides a; b; and c: Solution: a) By symmetry for the sphere I®¯ = I±®¯: (1) One can ¯nd I easily noticing that for the hollow sphere is 1 1 X ³ ´ I = (I + I + I ) = m y2 + z2 + z2 + x2 + x2 + y2 3 xx yy zz 3 i i i i i i i i 2 X 2 X 2 = m r2 = R2 m = MR2: (2) 3 i i 3 i 3 i i b) and c): Standard solutions 2 Half-cylinder ϕ (10 points) Consider a half-cylinder of mass M and radius R on a horizontal plane. a) Find the position of its center of mass (CM) and the moment of inertia with respect to CM. b) Write down the Lagrange function in terms of the angle ' (see Fig.) c) Find the frequency of cylinder's oscillations in the linear regime, ' ¿ 1. Solution: (a) First we ¯nd the distance a between the CM and the geometrical center of the cylinder. With σ being the density for the cross-sectional surface, so that ¼R2 M = σ ; (3) 2 1 one obtains Z Z 2 2σ R p σ R q a = dx x R2 ¡ x2 = dy R2 ¡ y M 0 M 0 ¯ 2 ³ ´3=2¯R σ 2 2 ¯ σ 2 3 4 = ¡ R ¡ y ¯ = R = R: (4) M 3 0 M 3 3¼ The moment of inertia of the half-cylinder with respect to the geometrical center is the same as that of the cylinder, 1 I0 = MR2: (5) 2 The moment of inertia with respect to the CM I can be found from the relation I0 = I + Ma2 (6) that yields " µ ¶ # " # 1 4 2 1 32 I = I0 ¡ Ma2 = MR2 ¡ = MR2 1 ¡ ' 0:3199MR2: (7) 2 3¼ 2 (3¼)2 (b) The Lagrange function L is given by L('; '_ ) = T ('; '_ ) ¡ U('): (8) The potential energy U of the half-cylinder is due to the elevation of its CM resulting from the deviation of ' from zero.
    [Show full text]
  • Impact Dynamics of Newtonian and Non-Newtonian Fluid Droplets on Super Hydrophobic Substrate
    IMPACT DYNAMICS OF NEWTONIAN AND NON-NEWTONIAN FLUID DROPLETS ON SUPER HYDROPHOBIC SUBSTRATE A Thesis Presented By Yingjie Li to The Department of Mechanical and Industrial Engineering in partial fulfillment of the requirements for the degree of Master of Science in the field of Mechanical Engineering Northeastern University Boston, Massachusetts December 2016 Copyright (©) 2016 by Yingjie Li All rights reserved. Reproduction in whole or in part in any form requires the prior written permission of Yingjie Li or designated representatives. ACKNOWLEDGEMENTS I hereby would like to appreciate my advisors Professors Kai-tak Wan and Mohammad E. Taslim for their support, guidance and encouragement throughout the process of the research. In addition, I want to thank Mr. Xiao Huang for his generous help and continued advices for my thesis and experiments. Thanks also go to Mr. Scott Julien and Mr, Kaizhen Zhang for their invaluable discussions and suggestions for this work. Last but not least, I want to thank my parents for supporting my life from China. Without their love, I am not able to complete my thesis. TABLE OF CONTENTS DROPLETS OF NEWTONIAN AND NON-NEWTONIAN FLUIDS IMPACTING SUPER HYDROPHBIC SURFACE .......................................................................... i ACKNOWLEDGEMENTS ...................................................................................... iii 1. INTRODUCTION .................................................................................................. 9 1.1 Motivation ........................................................................................................
    [Show full text]
  • Post-Newtonian Approximation
    Post-Newtonian gravity and gravitational-wave astronomy Polarization waveforms in the SSB reference frame Relativistic binary systems Effective one-body formalism Post-Newtonian Approximation Piotr Jaranowski Faculty of Physcis, University of Bia lystok,Poland 01.07.2013 P. Jaranowski School of Gravitational Waves, 01{05.07.2013, Warsaw Post-Newtonian gravity and gravitational-wave astronomy Polarization waveforms in the SSB reference frame Relativistic binary systems Effective one-body formalism 1 Post-Newtonian gravity and gravitational-wave astronomy 2 Polarization waveforms in the SSB reference frame 3 Relativistic binary systems Leading-order waveforms (Newtonian binary dynamics) Leading-order waveforms without radiation-reaction effects Leading-order waveforms with radiation-reaction effects Post-Newtonian corrections Post-Newtonian spin-dependent effects 4 Effective one-body formalism EOB-improved 3PN-accurate Hamiltonian Usage of Pad´eapproximants EOB flexibility parameters P. Jaranowski School of Gravitational Waves, 01{05.07.2013, Warsaw Post-Newtonian gravity and gravitational-wave astronomy Polarization waveforms in the SSB reference frame Relativistic binary systems Effective one-body formalism 1 Post-Newtonian gravity and gravitational-wave astronomy 2 Polarization waveforms in the SSB reference frame 3 Relativistic binary systems Leading-order waveforms (Newtonian binary dynamics) Leading-order waveforms without radiation-reaction effects Leading-order waveforms with radiation-reaction effects Post-Newtonian corrections Post-Newtonian spin-dependent effects 4 Effective one-body formalism EOB-improved 3PN-accurate Hamiltonian Usage of Pad´eapproximants EOB flexibility parameters P. Jaranowski School of Gravitational Waves, 01{05.07.2013, Warsaw Relativistic binary systems exist in nature, they comprise compact objects: neutron stars or black holes. These systems emit gravitational waves, which experimenters try to detect within the LIGO/VIRGO/GEO600 projects.
    [Show full text]
  • Kinematics, Kinetics, Dynamics, Inertia Kinematics Is a Branch of Classical
    Course: PGPathshala-Biophysics Paper 1:Foundations of Bio-Physics Module 22: Kinematics, kinetics, dynamics, inertia Kinematics is a branch of classical mechanics in physics in which one learns about the properties of motion such as position, velocity, acceleration, etc. of bodies or particles without considering the causes or the driving forces behindthem. Since in kinematics, we are interested in study of pure motion only, we generally ignore the dimensions, shapes or sizes of objects under study and hence treat them like point objects. On the other hand, kinetics deals with physics of the states of the system, causes of motion or the driving forces and reactions of the system. In a particular state, namely, the equilibrium state of the system under study, the systems can either be at rest or moving with a time-dependent velocity. The kinetics of the prior, i.e., of a system at rest is studied in statics. Similarly, the kinetics of the later, i.e., of a body moving with a velocity is called dynamics. Introduction Classical mechanics describes the area of physics most familiar to us that of the motion of macroscopic objects, from football to planets and car race to falling from space. NASCAR engineers are great fanatics of this branch of physics because they have to determine performance of cars before races. Geologists use kinematics, a subarea of classical mechanics, to study ‘tectonic-plate’ motion. Even medical researchers require this physics to map the blood flow through a patient when diagnosing partially closed artery. And so on. These are just a few of the examples which are more than enough to tell us about the importance of the science of motion.
    [Show full text]
  • Apollonian Circle Packings: Dynamics and Number Theory
    APOLLONIAN CIRCLE PACKINGS: DYNAMICS AND NUMBER THEORY HEE OH Abstract. We give an overview of various counting problems for Apol- lonian circle packings, which turn out to be related to problems in dy- namics and number theory for thin groups. This survey article is an expanded version of my lecture notes prepared for the 13th Takagi lec- tures given at RIMS, Kyoto in the fall of 2013. Contents 1. Counting problems for Apollonian circle packings 1 2. Hidden symmetries and Orbital counting problem 7 3. Counting, Mixing, and the Bowen-Margulis-Sullivan measure 9 4. Integral Apollonian circle packings 15 5. Expanders and Sieve 19 References 25 1. Counting problems for Apollonian circle packings An Apollonian circle packing is one of the most of beautiful circle packings whose construction can be described in a very simple manner based on an old theorem of Apollonius of Perga: Theorem 1.1 (Apollonius of Perga, 262-190 BC). Given 3 mutually tangent circles in the plane, there exist exactly two circles tangent to all three. Figure 1. Pictorial proof of the Apollonius theorem 1 2 HEE OH Figure 2. Possible configurations of four mutually tangent circles Proof. We give a modern proof, using the linear fractional transformations ^ of PSL2(C) on the extended complex plane C = C [ f1g, known as M¨obius transformations: a b az + b (z) = ; c d cz + d where a; b; c; d 2 C with ad − bc = 1 and z 2 C [ f1g. As is well known, a M¨obiustransformation maps circles in C^ to circles in C^, preserving angles between them.
    [Show full text]
  • New Rotational Dynamics- Inertia-Torque Principle and the Force Moment the Character of Statics Guagsan Yu* Harbin Macro, Dynamics Institute, P
    Computa & tio d n ie a l l p M Yu, J Appl Computat Math 2015, 4:3 p a Journal of A t h f e o m l DOI: 10.4172/2168-9679.1000222 a a n t r ISSN: 2168-9679i c u s o J Applied & Computational Mathematics Research Article Open Access New Rotational Dynamics- Inertia-Torque Principle and the Force Moment the Character of Statics GuagSan Yu* Harbin Macro, Dynamics Institute, P. R. China Abstract Textual point of view, generate in a series of rotational dynamics experiment. Initial research, is wish find a method overcome the momentum conservation. But further study, again detected inside the classical mechanics, the error of the principle of force moment. Then a series of, momentous the error of inside classical theory, all discover come out. The momentum conservation law is wrong; the newton third law is wrong; the energy conservation law is also can surpass. After redress these error, the new theory namely perforce bring. This will involve the classical physics and mechanics the foundation fraction, textbooks of physics foundation part should proceed the grand modification. Keywords: Rigid body; Inertia torque; Centroid moment; Centroid occurrence change? The Inertia-torque, namely, such as Figure 3 the arm; Statics; Static force; Dynamics; Conservation law show, the particle m (the m is also its mass) is a r 1 to O the slewing radius, so it the Inertia-torque is: Introduction I = m.r1 (1.1) Textual argumentation is to bases on the several simple physics experiment, these experiments pass two videos the document to The Inertia-torque is similar with moment of force, to the same of proceed to demonstrate.
    [Show full text]
  • Lecture Notes for PHY 405 Classical Mechanics
    Lecture Notes for PHY 405 Classical Mechanics From Thorton & Marion's Classical Mechanics Prepared by Dr. Joseph M. Hahn Saint Mary's University Department of Astronomy & Physics November 25, 2003 revised November 29 Chapter 11: Dynamics of Rigid Bodies rigid body = a collection of particles whose relative positions are fixed. We will ignore the microscopic thermal vibrations occurring among a `rigid' body's atoms. The inertia tensor Consider a rigid body that is composed of N particles. Give each particle an index α = 1 : : : N. Particle α has a velocity vf,α measured in the fixed reference frame and velocity vr,α = drα=dt in the reference frame that rotates about axis !~ . Then according to Eq. 10.17: vf,α = V + vr,α + !~ × rα where V = velocity of the moving origin relative to the fixed origin. Note that the particles in a rigid body have zero relative velocity, ie, vr,α = 0. 1 Thus vα = V + !~ × rα after dropping the f subscript 1 1 and T = m v2 = m (V + !~ × r )2 is the particle's KE α 2 α α 2 α α N so T = Tα the system's total KE is α=1 X1 1 = MV2 + m V · (!~ × r ) + m (!~ × r )2 2 α α 2 α α α α X X 1 1 = MV2 + V · !~ × m r + m (!~ × r )2 2 α α 2 α α α ! α X X where M = α mα = the system's total mass. P Now choose the system's center of mass R as the origin of the moving frame.
    [Show full text]
  • A Short History of Physics (Pdf)
    A Short History of Physics Bernd A. Berg Florida State University PHY 1090 FSU August 28, 2012. References: Most of the following is copied from Wikepedia. Bernd Berg () History Physics FSU August 28, 2012. 1 / 25 Introduction Philosophy and Religion aim at Fundamental Truths. It is my believe that the secured part of this is in Physics. This happend by Trial and Error over more than 2,500 years and became systematic Theory and Observation only in the last 500 years. This talk collects important events of this time period and attaches them to the names of some people. I can only give an inadequate presentation of the complex process of scientific progress. The hope is that the flavor get over. Bernd Berg () History Physics FSU August 28, 2012. 2 / 25 Physics From Acient Greek: \Nature". Broadly, it is the general analysis of nature, conducted in order to understand how the universe behaves. The universe is commonly defined as the totality of everything that exists or is known to exist. In many ways, physics stems from acient greek philosophy and was known as \natural philosophy" until the late 18th century. Bernd Berg () History Physics FSU August 28, 2012. 3 / 25 Ancient Physics: Remarkable people and ideas. Pythagoras (ca. 570{490 BC): a2 + b2 = c2 for rectangular triangle: Leucippus (early 5th century BC) opposed the idea of direct devine intervention in the universe. He and his student Democritus were the first to develop a theory of atomism. Plato (424/424{348/347) is said that to have disliked Democritus so much, that he wished his books burned.
    [Show full text]
  • NEWTON's FIRST LAW of MOTION the Law of INERTIA
    NEWTON’S FIRST LAW OF MOTION The law of INERTIA INERTIA - describes how much an object tries to resist a change in motion (resist a force) inertia increases with mass INERTIA EXAMPLES Ex- takes more force to stop a bowling ball than a basket ball going the same speed (bowling ball tries more to keep going at a constant speed- resists stopping) Ex- it takes more force to lift a full backpack than an empty one (full backpack tries to stay still more- resists moving ; it has more inertia) What the law of inertia says…. AKA Newton’s First Law of Motion An object at rest, stays at rest Because the net force is zero! Forces are balanced (equal & opposite) …an object in motion, stays in motion Motion means going at a constant speed & in a straight line The net force is zero on this object too! NO ACCELERATION! …unless acted upon by a net force. Only when this happens will you get acceleration! (speed or direction changes) Forces are unbalanced now- not all equal and opposite there is a net force> 0N! You have overcome the object’s inertia! How does a traveling object move once all the forces on it are balanced? at a constant speed in a straight line Why don’t things just move at a constant speed in a straight line forever then on Earth? FRICTION! Opposes the motion & slows things down or GRAVITY if motion is in up/down direction These make the forces unbalanced on the object & cause acceleration We can’t get away from those forces on Earth! (we can encounter some situations where they are negligible though!) HOW can you make a Bowling
    [Show full text]
  • RELATIVISTIC GRAVITY and the ORIGIN of INERTIA and INERTIAL MASS K Tsarouchas
    RELATIVISTIC GRAVITY AND THE ORIGIN OF INERTIA AND INERTIAL MASS K Tsarouchas To cite this version: K Tsarouchas. RELATIVISTIC GRAVITY AND THE ORIGIN OF INERTIA AND INERTIAL MASS. 2021. hal-01474982v5 HAL Id: hal-01474982 https://hal.archives-ouvertes.fr/hal-01474982v5 Preprint submitted on 3 Feb 2021 (v5), last revised 11 Jul 2021 (v6) HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Distributed under a Creative Commons Attribution| 4.0 International License Relativistic Gravity and the Origin of Inertia and Inertial Mass K. I. Tsarouchas School of Mechanical Engineering National Technical University of Athens, Greece E-mail-1: [email protected] - E-mail-2: [email protected] Abstract If equilibrium is to be a frame-independent condition, it is necessary the gravitational force to have precisely the same transformation law as that of the Lorentz-force. Therefore, gravity should be described by a gravitomagnetic theory with equations which have the same mathematical form as those of the electromagnetic theory, with the gravitational mass as a Lorentz invariant. Using this gravitomagnetic theory, in order to ensure the relativity of all kinds of translatory motion, we accept the principle of covariance and the equivalence principle and thus we prove that, 1.
    [Show full text]
  • Newton Euler Equations of Motion Examples
    Newton Euler Equations Of Motion Examples Alto and onymous Antonino often interloping some obligations excursively or outstrikes sunward. Pasteboard and Sarmatia Kincaid never flits his redwood! Potatory and larboard Leighton never roller-skating otherwhile when Trip notarizes his counterproofs. Velocity thus resulting in the tumbling motion of rigid bodies. Equations of motion Euler-Lagrange Newton-Euler Equations of motion. Motion of examples of experiments that a random walker uses cookies. Forces by each other two examples of example are second kind, we will refer to specify any parameter in. 213 Translational and Rotational Equations of Motion. Robotics Lecture Dynamics. Independence from a thorough description and angular velocity as expected or tofollowa userdefined behaviour does it only be loaded geometry in an appropriate cuts in. An interface to derive a particular instance: divide and author provides a positive moment is to express to output side can be run at all previous step. The analysis of rotational motions which make necessary to decide whether rotations are. For xddot and whatnot in which a very much easier in which together or arena where to use them in two backwards operation complies with respect to rotations. Which influence of examples are true, is due to independent coordinates. On sameor adjacent joints at each moment equation is also be more specific white ellipses represent rotations are unconditionally stable, for motion break down direction. Unit quaternions or Euler parameters are known to be well suited for the. The angular momentum and time and runnable python code. The example will be run physics examples are models can be symbolic generator runs faster rotation kinetic energy.
    [Show full text]