A Lagrangian treatment of various forms of the rigid-body equations of motion is presented in this paper, including the most general expressions, which are the Boltzmann-Hamel equations. One key result that enables the derivations is the expression for the Hamel coefficients for the special case of rotational motion of a rigid body. The Hamel coefficients naturally arise in the Lagrange equations for quasi-coordinates. Another key result that enables the derivations is the expression for additional Hamel coefficients that arise when the translational-velocity vector of the mass center is coordinatized (expressed) along body-fixed axes. One interesting discovery is that the Boltzmann-Hamel equations are often misrepresented in standard textbooks. The misrepresentation stems from the fact that care is not exercised to distinguish the functional forms of the kinetic-energy expression.


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    Title :

    Hamel Coefficients for the Rotational Motion of a Rigid Body


    Additional title:

    J of Astronaut Sci


    Contributors:

    Published in:

    Publication date :

    2004-03-01


    Size :

    19 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Hamel Coefficients for the Rotational Motion of a Rigid Body

    Hurtado, J. E. | British Library Conference Proceedings | 2004



    Hamel Coefficients For The Rotational Motion Of A Rigid Body

    Schaub, Hanspeter / Junkins, John L. | AIAA | 2003


    Hamel Coefficients for the Rotational Motion of a Rigid Body (AAS 03-283)

    Hurtado, J. E. / American Aeronautical Society / Texas A&M University | British Library Conference Proceedings | 2003