Dynamics of Rigid Bodies: Vectorial Approach


In this chapter, we extend the vectorial approach based on Newton’s second law of dynamics to rigid bodies. To this end, we introduce the concepts of the center of mass, mass moment of inertia, and principal axis of rotation. We used these concepts to model planar and non-planar motion of rigid bodies.

3.1Center of Mass
3.2Mass Moment of Inertia
3.3Parallel Axis Theorem
3.4Rotation of the Inertia Matrix
3.5Planar Motion of Rigid Bodies
3.6Non-planar Rigid-body Motion

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