The rigid‐body equations of motion will be derived using the Newton–Euler formulation and vectorial mechanics. The Newton–Euler formulation is based on Newton's second law. For marine craft it is desirable to derive the equations of motion for an arbitrary origin CO to take advantage of the craft's geometric properties. Since the hydrodynamic forces and moments often are computed in the CO, Newton's laws will be formulated about the CO as well. The chapter shows how the rigid‐body kinetics can be derived by applying Newtonian mechanics. It discusses useful properties of the equations of motion and demonstrates how these properties considerably simplify the representation of the nonlinear equations of motion.
Rigid‐body Kinetics
2021-06-01
16 pages
Article/Chapter (Book)
Electronic Resource
English
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