Continuous System

What does jello look like in space?

Aerospace Engineering Sciences Department

Equations of Motion
Newton’s Law: P
dF = R̈dm
dm
Force Vector: dF = dFE + dFI R r
Z Z
Total Force acting
on System:
F = dF = dFE
B B C
Rc Time-Invariant Boundary
N
B which contains all
O possible deformations.

Z Z Z
Center of Mass: M Rc = Rdm = (Rc + r)dm rdm = 0
B B B

Z Z
M R̈c = R̈dm = dF M R̈c = F
B B
Super Particle Theorem
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Kinetic Energy
Z
1
Definition: T = Ṙ · Ṙdm P
2 B dm

Ṙ = Ṙc + ṙ
R r

✓Z ◆ Z
1
T = dm Ṙc · Ṙc + Ṙc · ṙdm C
2 B B Rc Time-Invariant Boundary
Z N
1 B which contains all
+ ṙ · ṙdm O possible deformations.
2 B

Z
1 1
T = M Ṙc · Ṙc + ṙ · ṙdm
2 2 B

Energy of CM Energy about CM

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Work/Energy Principle
Z
Differentiate Energy: dT
= M R̈c · Ṙc + ṙ · r̈dm
dt B

M R̈c = F r̈ = R̈ R̈c

Z ⇣ ⌘ Z
dT
= F · Ṙc + R̈dm · ṙ R̈c · ṙdm
dt B B
C.M.
Z
dT
= F · Ṙc + dF · ṙ
dt B

Z tR(t
2 2)
Z Z
t2 Z
r(t2 ) Z
T (t2 ) T (t1 ) = F ·FṘ·c dt
dR+c + dF · dF
ṙdt · dr
tR(t
1 1) t1 r(tB
1) B

Work energy/principle for system of particles

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Linear Momentum

Definition: dp = ZṘdm Z Z ✓Z ◆ Z
p= dp = Ṙdm = (Ṙc + ṙ)dm = dm Ṙc + ṙdm
B B B B B
C.M.
p = M Ṙc

Z Z
Linear Momentum
ṗ = R̈dm = dF = F
Rate: B B

d N
F = (p)
dt

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Angular Momentum
P
dm
Z
Ang. Momentum about P: HP = ⇥ ˙ dm R r
B

= R RP C
Rc
Z Z N
Inertial Time Derivative: ḢP = ˙ ⇥ ˙ dm + ⇥ ¨ dm O B
B B
Z ✓Z ◆
ḢP = ⇥ R̈dm dm ⇥ R̈P
B B
Z Z ✓Z ◆
dm = Rdm dm RP = M (Rc RP )
B B B
Z Z
Torque about P: LP = ⇥ R̈dm = ⇥ dF
B B

ḢP = LP + M R̈P ⇥ (Rc RP ) ḢP = LP

If P is CM or Inertial

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Rigid Body Dynamics
The 101 of spacecraft dynamics...

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General Angular Momentum
Z
Definition: HO = R ⇥ Ṙdm !
B
or
Z Ṙc
C
HO = Rc ⇥ M Ṙc + r ⇥ ṙdm Rc
CM B N
Rigid Body B
Momentum about CM: O
Z
Hc = r ⇥ ṙdm
B
N
d B
d
ṙ = (r) = (r) + ! ⇥ r = ! ⇥ r
dt dt
Z ✓Z ◆
Hc = r ⇥ (! ⇥ r) dm = [r̃][r̃]dm !
B B

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Inertia Tensor Properties

Definition:
B2 2 3
Z Z r2 + r32 r1 r2 r1 r3
[Ic ] =
B
[r̃][r̃]dm = 4 r1 r 2 r12 + r32 r2 r3 5 dm
B B r1 r 3 r2 r3 r1 + r2
2 2

Angular Momentum Expression:

0
B 1 B2 2 3 B0 1
Hc1 Z r2 + r32 r1 r2 r1 r3 !1
Hc = @Hc2 A = 4 r1 r2 r12 + r32 r2 r3 5 @!2 A dm = [Ic ]!
Hc3 B r1 r3 r2 r3 r 1 + r2
2 2
!3

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Parallel Axis Theorem
Total CM
Mass Offset

[IO ] = [Ic ] + M [R̃c ][R̃c ] T

Rigid Body B

Inertia about !
CM C
! Rc
N
O

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Coordinate Transformation

B - Body Frame
F
[I] = [F B] [I] [F B]
B T
F - 2nd Coordinate Frame

2 3 B2 3 F2 32 3
C11 C12 C13 I11 I12 I13 I1 0 0 C11 C12 C13
4C21 C22 C23 5 4I12 I22 I23 5 = 40 I2 0 5 4C21 C22 C23 5
C31 C32 C33 I13 I23 I33 0 0 I3 C31 C32 C33
Rotation matrix [C]
Principal inertia
contains the
matrix whose
eigenvectors of [I]
diagonal entries
2 T3 are the
v1 eigenvalues of [I]
4
[C] = [V ] = v2
T T5

v3T

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Kinetic Energy
Z
1 1
Total Energy: T = M Ṙc · Ṙc + ṙ · ṙdm = Ttrans + Trot
2 2 B
Z Z
1 1
Rotational Energy: Trot = ṙ · ṙdm = (! ⇥ r) · (! ⇥ r) dm
2 B 2 B
Z
1 1 1 T
Trot = !· r ⇥ (! ⇥ r) dm = ! · Hc = ! [I]!
2 B 2 2

Energy Rate: Ṫ = F · Ṙc + Lc · !

Z t2 Z t2
Work/Energy Principle: W = T (t2 ) T (t1 ) = F · Ṙc dt + Lc · !dt
t1 t1

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Equations of Motion

dB
Euler’s equation: Ḣc = (Hc ) + ! ⇥ Hc = Lc
dt
B
d B
d B
d
(Hc ) = ([I]) ! + [I] (!) = [I]!˙
dt dt dt

Euler’s rotational
equations of motion:
[I]!˙ = [˜
! ][I]! + Lc

Principal axis version of I11 ˙ 1 = (I33 I22 ) 2 3 + L1

rotational EOM:
I22 ˙ 2 = (I11 I33 ) 3 1 + L2
I33 ˙ 3 = (I22 I11 ) 1 2 + L3

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Discuss how to integrate full EOM

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Example: Slender Rod Falling
m 2 n̂2
Rod Inertia about CM: Ic = L
12
Momentum about CM: Hc = Ic ✓˙ê3
✓ ◆ ✓
L L
Torque: Lc = êL ⇥ N n̂2 = N sin ✓ê3 êL
2 2
Euler’s Eqn: Ḣc = Lc y ê✓
n̂1
m 2¨ L N
L ✓ N sin ✓ = 0
12 2
Newton’s Eqn: mÿ n̂2 = (N mg)n̂2 L¨ L ˙2
N = mg m ✓ sin ✓ m ✓ cos ✓
L L¨ L ˙2 2 2
y = cos ✓ ÿ = ✓ sin ✓ ✓ cos ✓
2 2 2
m 2¨ m 2 ˙2 m
EOM: L ✓(1 + 3 sin ✓) + L ✓ sin ✓ cos ✓
2
Lg sin ✓ = 0
12 4 2

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Example: Slender Rod Falling
Energy functions: n̂2

L
V ( ) = mgy = mg cos
2
2
˙ m Ic ˙2 mL ✓
T ( , ) = ẏ +
2
= (1 + 3 sin2 ) ˙2 êL
2 2 24
ê✓
Initial energy level: y n̂1
L N
E(t0 ) = T0 + V0 = mg
2

˙2 12g(1 cos ✓)
˙ + V (✓) = E(t0 )
T (✓, ✓) ✓ =
L(1 + 3 sin2 ✓)
Energy Conservation avoids
having to solve ODE.

Aerospace Engineering Sciences Department 18

Momentum/Energy Surfaces

• Let’s study a special class of rigid body motion where no external torque is acting on the body.

• In this case the kinetic energy and the angular momentum of the rigid body are conserved!

• In inertial frame vector components, we find

N T B
H = H = [BN ] H
⎡ ⎤⎛ ⎞
cθ2 cθ1 cθ2 sθ1 −sθ2 I1 ω1
N
H = H = ⎣sθ3 sθ2 cθ1 − cθ3 sθ1 sθ3 sθ2 sθ1 + cθ3 cθ1 sθ3 cθ2 ⎦ ⎝I2 ω2 ⎠
cθ3 sθ2 cθ1 + sθ3 sθ1 cθ3 sθ2 sθ1 − sθ3 cθ1 cθ3 cθ2 I3 ω3
Ḣ = 0 = f (✓1, ✓2, ✓3, !1, !2, !3, !˙ 1, !˙ 2, !˙ 3)

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• Notice that the constant angular momentum condition can become very complicated and difficult to
study!

• Instead of writing H in inertial frame components, we chose to write it in the body frame where the inertia
matrix is a constant for a rigid body.

• Assume the angular momentum vector H is written in body frame components, and that principal axes
were chosen for the body frame B.

ω = ω1 b̂1 + ω2 b̂2 + ω3 b̂3 ⎡

I1 0 0
⎤
B [I] = ⎣ 0 I2 0⎦
H = H = H1 b̂1 + H2 b̂2 + H3 b̂3
= I1 ω1 b̂1 + I2 ω2 b̂2 + I3 ω3 b̂3 0 0 I3

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• This allows us to write H as:

B
⎛ ⎞ B
⎛ ⎞
H1 I1 ω1
B
H = H = ⎝H2 ⎠ = ⎝I2 ω2 ⎠
H3 I3 ω3

• Because H is constant, all possible rigid body angular velocities must lie on the surface of the following
momentum ellipsoid:

2 T 2 2 2 2 2 2
H =H H= I1 ω1 + I2 ω2 + I3 ω3 = constant

• Similarly, since the kinetic energy is conserved, all possible rigid body angular velocities must also lie on
the surface of the following energy ellipsoid:

1 2 1 2 1 2
T = I1 ω1 + I2 ω2 + I3 ω3
2 2 2
• The final admissible angular velocities will be on the intersection of these two ellipsoids.

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• Using the momenta coordinates

H1 = I1 ω1 H2 = I2 ω2 H3 = I3 ω3

• we can write the momentum magnitude constraint as

2
H = 2
H1 + 2
H2 + 2
H3 Sphere

• and the kinetic energy constraint as

2 2 2
H1 H2 H3
1= + +
2I1 T 2I2 T 2I3 T

Compare to ellipsoid equation:

2 2 2
x y z
1= 2 + 2 + 2
a b c

semi-axes of ellipsoid
!
2Ii T

Aerospace Engineering Sciences Department 22

• Clearly, for a given H, only a certain range of kinetic energies is possible.

• Let’s assume the common notation: I1 ≥ I2 ≥ I3

H3

Trajectory of possible ω(t)

Energy Ellipsoid H2

Momentum Sphere
H1

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• Let’s look at the Minimum Energy Case:

• The surfaces will only intersect at:

B
H = ±H b̂1
H3
H1 = H H 2 = H3 = 0
The kinetic energy is:
Minimum
2
H1 2
H2 2
H3 Energy
1= + + Ellipsoid
2I1 T 2I2 T 2I3 T

2 H2
H
Tmin = H1
2I1

Aerospace Engineering Sciences Department 24

General Rotation of Rigid Body with I1 ≥ I2 ≥ I3

Pure Spin Slightly Off Spin

o /s o /s
ω0 = (10 , 0
o o
,0 ) ω0 = (10 , 0.5
o o
, 0.5 )

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• Let’s look at the Intermediate Energy Case:

• The surfaces will only intersect at:

B H3 3
H
H = ±H b̂2

The kinetic energy is: Sepratrix

Sepratrix
2 2 2
H1 H2 H3
1= + +
2I1 T 2I2 T 2I3 T

2
H H
H 22
Tint =
2I2

H
H 11

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General Rotation of Rigid Body with I1 ≥ I2 ≥ I3

Pure Spin Slightly Off Spin

o /s o /s
ω0 = (0 , 10
o o
,0 ) ω0 = (0.5 , 10o o
, 0.5 )

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• Maximum Energy Case: H3

B
H = H b̂3
The kinetic energy is:
2 2 2
H1 H2 H3
1= + +
2I1 T 2I2 T 2I3 T

2
H
Tmax = H2
2I3

Maximum
Energy
Ellipsoid

H1

Aerospace Engineering Sciences Department 28

General Rotation of Rigid Body with I1 ≥ I2 ≥ I3

Pure Spin Slightly Off Spin

o /s o /s
ω0 = (0 , 0
o o
, 10 ) ω0 = (0.5 , 0.5
o o
, 10 )

Aerospace Engineering Sciences Department 29

 Maximum
2 H3 Energy
H
T > H2
2I2 T =
2I3

2
H
T =
2I2

H2 Sepratrix
T <
2I2

H1
H2
Minimum
Energy
H2
T =
2I1

Family of energy ellipsoid and momentum sphere intersections.

Aerospace Engineering Sciences Department 30

 H3

H1

H2

I11 ˙ 1 = (I33 I22 ) 2 3

What type of spacecraft I22 ˙ 2 = (I11 I33 ) 3 1
body would yield this?
I33 ˙ 3 = (I22 I11 ) 1 2

Aerospace Engineering Sciences Department 31

 H3

H1

H2

I11 ˙ 1 = (I33 I22 ) 2 3

What type of spacecraft I22 ˙ 2 = (I11 I33 ) 3 1
body would yield this?
I33 ˙ 3 = (I22 I11 ) 1 2

Aerospace Engineering Sciences Department 32