I.4 - Velocity and Acceleration Analysis

Abstract

The motion of a rigid body (RB) is defined when the position vector, velocity, and acceleration of all points of the rigid body are defined as functions of time with respect to a fixed reference frame with the origin at O0. The velocity of an arbitrary point M of the rigid body, with respect to the fixed reference frame Ox0y0z0, is the derivative with respect to time of the position vector r1. The acceleration of an arbitrary point M Є (RB), with respect to a fixed reference frame O0x0y0z0, represents the double derivative with respect to time of the position vector r1. A reference frame that moves with the rigid body is a body fixed reference frame. The primary reference frame is a fixed reference frame or an earth fixed reference frame. The unit vectors of the primary reference frame are constant. The body fixed reference frame, Oxyz, has its origin at a point O of the rigid body and is a moving reference frame relative to the primary reference.