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Module 7 - 3D Dynamics

This document discusses a course on advanced 3D dynamics. The course covers topics like kinematics, kinetics, angular momentum, rotational motion of rigid bodies, and work-energy and impulse-momentum principles as they apply to 3D engineering systems and structures. It provides an example of deriving the equation for velocity expressed in moving reference frames using a hang glider example. The velocity of an object in a moving frame is equal to the velocity of the moving frame plus the time derivative of the position vector between the moving frame's origin and the object.

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Ramón Martínez
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
86 views

Module 7 - 3D Dynamics

This document discusses a course on advanced 3D dynamics. The course covers topics like kinematics, kinetics, angular momentum, rotational motion of rigid bodies, and work-energy and impulse-momentum principles as they apply to 3D engineering systems and structures. It provides an example of deriving the equation for velocity expressed in moving reference frames using a hang glider example. The velocity of an object in a moving frame is equal to the velocity of the moving frame plus the time derivative of the position vector between the moving frame's origin and the object.

Uploaded by

Ramón Martínez
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Advanced Engineering

Systems in Motion:
Dynamics of Three
Dimensional (3D) Motion
Dr. Wayne Whiteman
Director of the Office of Student Services
and Senior Academic Professional
School of Mechanical Engineering

This course is an advanced study of bodies in motion as applied to


engineering systems and structures.

School of Mechanical Engineering

Advanced Engineering Systems in Motion: 3D Dynamics Overview


Kinematics
Angular velocity and angular acceleration
Velocities and accelerations in moving reference frames
Eulerian angles
Rotation matrices
Kinetics
Angular momentum in 3D
Inertial properties of 3D bodies
3D rotational motion of rigid bodies
3D Work-Energy principle
3D Impulse-Momentum principle

Module 7 Learning Outcome

Derive the equation for velocity expressed in


moving frames of reference.

Hang glider

Velocities expressed in moving


frames of reference

Velocity of hang glider in Frame B:

B
vP / B rOP

Velocity of hang glider in Frame F:

F
vP / F rOP

Y
Frame F
Earth

z
O

x
Frame B
Car

Velocity of car in Frame F:

F
vO / F rOO

Hang glider

Velocities expressed in moving


frames of reference

rOP rOO rOP


Differentiate in Frame F:

y
O

Y
Frame F
Earth

z
O

x
Frame B
Car

Hang glider

Velocities expressed in moving


frames of reference

F
v v r
P/ F

O / F

OP

Y
Frame F
Earth

z
O

x
Frame B
Car

Z
Derivative Formula

A A B / F A
Let


A rOP
6

Hang glider

Velocities expressed in moving


frames of reference

F
v v r
P/ F

O / F

OP

rOP vP / B B / F rOP

Y
Frame F
Earth

z
O

x
Frame B
Car

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