Angular Momentum and the Rigid Body

1
Angular Momentum and the Rigid Body
Full set of equations for a rigid body
2
Body Centered Coordinate System
Advantage Moment of Inertia tensor does not
change Disadvantage Must use rotating
coordinate systems
Coordinate system rotates with body
Notice that external forces effect movement of
center of of mass torques effect direction of
rotation.
3
Zero External Torque
can
Only if
is along principle axis
4
Principle Axes System
Principle axes system
Need to know the torques along the rotating
principle axes.
Difficult unless
Assume
and
5
Principle Axes System (cont.)
Trial solution
6
Various Cones
Body cone
Space cone
7
Unequal Moments
Assume