Mathematical Problems in Engineering / 2011 / Article / Fig 1

Research Article

Vector Rotators of Rigid Body Dynamics with Coupled Rotations around Axes without Intersection

Figure 1

Arbitrary position of rigid body coupled rotations around two axes without intersection. System is with two degrees of mobility (two freedom or one degree of freedom and one rheonomic constraint) where πœ‘ 1 and πœ‘ 2 are generalized coordinates fixed coordinate system and two moveable coordinate systems 𝑂 1 πœ‰ 1 πœ‚ 1 𝜁 1 = 𝑂 1 πœ‰ 1 πœ‚ 1 𝑧 and 𝑂 2 πœ‰ 2 πœ‚ 2 𝜁 2 = 𝑂 2 πœ‰ 2 πœ‚ 2 𝑧 2 that are rotating with component angular velocities of rigid body coupled rotations: independent generalized (/or rheonomic) coordinates are πœ‘ 1 coordinate of precession rotation and πœ‘ 2 coordinate around self rotation axis. Vector rotators ξ‚” β„œ 0 1 ,  β„œ 0 1 1 , and  β„œ 0 2 2 are presented.

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