Angular velocity tensor: Difference between revisions

Revision as of 12:35, 14 June 2007

Revision as of 12:36, 14 June 2007

Line 2:

:<math>

\boldsymbol\omega(t) \times A(t)\mathbf{r}_0(t) = T(t)A(t) \mathbf{r}_0(t) </math>

where A is an [[orientation matrix]]. It allows us to express the [[cross product]]

:<math>\boldsymbol\omega(t) \times A(t)\mathbf{r}_0(t) </math>

as a matrix multiplication. It is, by definition, a [[skew-symmetric matrix]] with zeros on the main diagonal and plus and minus the components of the angular velocity as the other elements:

:<math>