Dynamics and Control of Robotic Systems by Kurdila Andrew;Ben-Tzvi Pinhas; & Pinhas Ben-Tzvi

Author:Kurdila, Andrew;Ben-Tzvi, Pinhas; & Pinhas Ben-Tzvi
Language: eng
Format: epub
ISBN: 9781119524953
Publisher: John Wiley & Sons, Inc.
Published: 2019-09-13T20:04:18+00:00

Theorem 4.11 (Euler's first law)

The resultant force acting on a rigid body is equal to the time rate of change in an inertial frame of the linear momentum

Theorem 4.12 (Euler's second law)

Let be a point that is fixed in the inertial frame . The resultant moment about point acting on a rigid body is equal to the time rate of change in an inertial frame of the angular momentum about the point .

Theorems 4.11 and 4.12 can be used in applications, but it is often the case that alternative forms are sought. Euler's first law can also be stated as the fact that the resultant force acting on a rigid body is equal to the mass of the rigid body multiplied by the acceleration of the center of mass of the body in an inertial frame.

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