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036fdfa6b15..312f2797bd4 100644 Binary files a/dev/_images/plotting-30.png and b/dev/_images/plotting-30.png differ diff --git a/dev/_sources/explanation/modules/physics/vector/kinematics/kinematics.rst.txt b/dev/_sources/explanation/modules/physics/vector/kinematics/kinematics.rst.txt index b0da207f3cc..307e9e34b9b 100644 --- a/dev/_sources/explanation/modules/physics/vector/kinematics/kinematics.rst.txt +++ b/dev/_sources/explanation/modules/physics/vector/kinematics/kinematics.rst.txt @@ -32,7 +32,7 @@ Angular Velocity The angular velocity of a rigid body refers to the rate of change of its orientation. The angular velocity of a body is written down as: -:math:`^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}}`, or the angular velocity of +:math:`^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}}`, or the angular velocity of :math:`\mathbf{B}` in :math:`\mathbf{N}`, which is a vector. Note that here, the term rigid body was used, but reference frames can also have angular velocities. Further discussion of the distinction between a rigid body and a @@ -56,16 +56,16 @@ The angular velocity of :math:`\mathbf{B}` in :math:`\mathbf{N}` can also be defined by: .. math:: - ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}} = - (\frac{^{\mathbf{N}}d \mathbf{\hat{b}_y}}{dt}\cdot\mathbf{\hat{b}_z} - )\mathbf{\hat{b}_x} + (\frac{^{\mathbf{N}}d \mathbf{\hat{b}_z}}{dt}\cdot - \mathbf{\hat{b}_x})\mathbf{\hat{b}_y} + (\frac{^{\mathbf{N}}d + {}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}} = + (\frac{{}^{\mathbf{N}}d \mathbf{\hat{b}_y}}{dt}\cdot\mathbf{\hat{b}_z} + )\mathbf{\hat{b}_x} + (\frac{{}^{\mathbf{N}}d \mathbf{\hat{b}_z}}{dt}\cdot + \mathbf{\hat{b}_x})\mathbf{\hat{b}_y} + (\frac{{}^{\mathbf{N}}d \mathbf{\hat{b}_x}}{dt}\cdot\mathbf{\hat{b}_y})\mathbf{\hat{b}_z} It is also common for a body's angular velocity to be written as: .. math:: - ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}} = w_x \mathbf{\hat{b}_x} + + {}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}} = w_x \mathbf{\hat{b}_x} + w_y \mathbf{\hat{b}_y} + w_z \mathbf{\hat{b}_z} There are a few additional important points relating to angular velocity. The @@ -73,11 +73,11 @@ first is the addition theorem for angular velocities, a way of relating the angular velocities of multiple bodies and frames. The theorem follows: .. math:: - ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{D}} = - ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{A}} + - ^{\mathbf{A}}\mathbf{\omega}^{\mathbf{B}} + - ^{\mathbf{B}}\mathbf{\omega}^{\mathbf{C}} + - ^{\mathbf{C}}\mathbf{\omega}^{\mathbf{D}} + {}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{D}} = + {}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{A}} + + {}^{\mathbf{A}}\boldsymbol{\omega}^{\mathbf{B}} + + {}^{\mathbf{B}}\boldsymbol{\omega}^{\mathbf{C}} + + {}^{\mathbf{C}}\boldsymbol{\omega}^{\mathbf{D}} This is also shown in the following example: @@ -85,11 +85,11 @@ This is also shown in the following example: :file: kin_angvel2.svg .. math:: - ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{A}} &= 0\\ - ^{\mathbf{A}}\mathbf{\omega}^{\mathbf{B}} &= \dot{q_1} \mathbf{\hat{a}_x}\\ - ^{\mathbf{B}}\mathbf{\omega}^{\mathbf{C}} &= - \dot{q_2} \mathbf{\hat{b}_z}\\ - ^{\mathbf{C}}\mathbf{\omega}^{\mathbf{D}} &= \dot{q_3} \mathbf{\hat{c}_y}\\ - ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{D}} &= \dot{q_1} \mathbf{\hat{a}_x} + {}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{A}} &= 0\\ + {}^{\mathbf{A}}\boldsymbol{\omega}^{\mathbf{B}} &= \dot{q_1} \mathbf{\hat{a}_x}\\ + {}^{\mathbf{B}}\boldsymbol{\omega}^{\mathbf{C}} &= - \dot{q_2} \mathbf{\hat{b}_z}\\ + {}^{\mathbf{C}}\boldsymbol{\omega}^{\mathbf{D}} &= \dot{q_3} \mathbf{\hat{c}_y}\\ + {}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{D}} &= \dot{q_1} \mathbf{\hat{a}_x} - \dot{q_2} \mathbf{\hat{b}_z} + \dot{q_3} \mathbf{\hat{c}_y}\\ Note the signs used in the angular velocity definitions, which are related to @@ -109,7 +109,7 @@ Here we can easily write the angular velocity of the body :math:`\mathbf{D}` in the reference frame of the first body :math:`\mathbf{A}`: .. math:: - ^\mathbf{A}\mathbf{\omega}^\mathbf{D} = w_1 \mathbf{\hat{p_1}} + + {}^\mathbf{A}\boldsymbol{\omega}^\mathbf{D} = w_1 \mathbf{\hat{p_1}} + w_2 \mathbf{\hat{p_2}} + w_3 \mathbf{\hat{p_3}}\\ It is very important to remember to only use this with angular velocities; you @@ -120,8 +120,8 @@ alternative method (which can be easier) to calculate the time derivative of a vector in a reference frame: .. math:: - \frac{^{\mathbf{N}} d \mathbf{v}}{dt} = \frac{^{\mathbf{B}} d \mathbf{v}}{dt} - + ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}} \times \mathbf{v} + \frac{{}^{\mathbf{N}} d \mathbf{v}}{dt} = \frac{{}^{\mathbf{B}} d \mathbf{v}}{dt} + +{}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}} \times \mathbf{v} The vector :math:`\mathbf{v}` can be any vector quantity: a position vector, a velocity vector, angular velocity vector, etc. Instead of taking the time @@ -131,7 +131,7 @@ body, usually one in which it is easy to take the derivative on :math:`\mathbf{v}` in (:math:`\mathbf{v}` is usually composed only of the basis vector set belonging to :math:`\mathbf{B}`). Then we add the cross product of the angular velocity of our newer frame, -:math:`^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}}` and our vector quantity +:math:`^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}}` and our vector quantity :math:`\mathbf{v}`. Again, you can choose any alternative frame for this. Examples follow: @@ -143,41 +143,41 @@ Angular Acceleration Angular acceleration refers to the time rate of change of the angular velocity vector. Just as the angular velocity vector is for a body and is specified in a frame, the angular acceleration vector is for a body and is specified in a -frame: :math:`^{\mathbf{N}}\mathbf{\alpha}^{\mathbf{B}}`, or the angular +frame: :math:`^{\mathbf{N}}\boldsymbol{\alpha}^{\mathbf{B}}`, or the angular acceleration of :math:`\mathbf{B}` in :math:`\mathbf{N}`, which is a vector. Calculating the angular acceleration is relatively straight forward: .. math:: - ^{\mathbf{N}}\mathbf{\alpha}^{\mathbf{B}} = - \frac{^{\mathbf{N}} d ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}}}{dt} + {}^{\mathbf{N}}\boldsymbol{\alpha}^{\mathbf{B}} = + \frac{{}^{\mathbf{N}} d{}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}}}{dt} Note that this can be calculated with the derivative theorem, and when the angular velocity is defined in a body fixed frame, becomes quite simple: .. math:: - ^{\mathbf{N}}\mathbf{\alpha}^{\mathbf{B}} &= - \frac{^{\mathbf{N}} d ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}}}{dt}\\ + {}^{\mathbf{N}}\boldsymbol{\alpha}^{\mathbf{B}} &= + \frac{{}^{\mathbf{N}} d{}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}}}{dt}\\ - ^{\mathbf{N}}\mathbf{\alpha}^{\mathbf{B}} &= - \frac{^{\mathbf{B}} d ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}}}{dt} - + ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}} \times - ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}}\\ + {}^{\mathbf{N}}\boldsymbol{\alpha}^{\mathbf{B}} &= + \frac{{}^{\mathbf{B}} d{}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}}}{dt} + +{}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}} \times + {}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}}\\ - \textrm{if } ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}} &= + \textrm{if }{}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}} &= w_x \mathbf{\hat{b}_x} + w_y \mathbf{\hat{b}_y} + w_z \mathbf{\hat{b}_z}\\ - \textrm{then } ^{\mathbf{N}}\mathbf{\alpha}^{\mathbf{B}} &= - \frac{^{\mathbf{B}} d ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}}}{dt} - + \underbrace{^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}} \times - ^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}}}_{ + \textrm{then }{}^{\mathbf{N}}\boldsymbol{\alpha}^{\mathbf{B}} &= + \frac{{}^{\mathbf{B}} d{}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}}}{dt} + + \underbrace{{}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}} \times + {}^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}}}_{ \textrm{this is 0 by definition}}\\ - ^{\mathbf{N}}\mathbf{\alpha}^{\mathbf{B}}&=\frac{d w_x}{dt}\mathbf{\hat{b}_x} + {}^{\mathbf{N}}\boldsymbol{\alpha}^{\mathbf{B}}&=\frac{d w_x}{dt}\mathbf{\hat{b}_x} + \frac{d w_y}{dt}\mathbf{\hat{b}_y} + \frac{d w_z}{dt}\mathbf{\hat{b}_z}\\ - ^{\mathbf{N}}\mathbf{\alpha}^{\mathbf{B}}&= \dot{w_x}\mathbf{\hat{b}_x} + + {}^{\mathbf{N}}\boldsymbol{\alpha}^{\mathbf{B}}&= \dot{w_x}\mathbf{\hat{b}_x} + \dot{w_y}\mathbf{\hat{b}_y} + \dot{w_z}\mathbf{\hat{b}_z}\\ Again, this is only for the case in which the angular velocity of the body is @@ -199,9 +199,9 @@ These three quantities are read as: .. math:: \mathbf{r}^{OP} \textrm{, the position vector from } O \textrm{ to }P\\ - ^{\mathbf{N}}\mathbf{v}^P \textrm{, the velocity of } P + {}^{\mathbf{N}}\mathbf{v}^P \textrm{, the velocity of } P \textrm{ in the reference frame } \mathbf{N}\\ - ^{\mathbf{N}}\mathbf{a}^P \textrm{, the acceleration of } P + {}^{\mathbf{N}}\mathbf{a}^P \textrm{, the acceleration of } P \textrm{ in the reference frame } \mathbf{N}\\ Note that the position vector does not have a frame associated with it; this is @@ -216,14 +216,14 @@ We can find these quantities for a simple example easily: .. math:: \textrm{Let's define: } \mathbf{r}^{OP} &= q_x \mathbf{\hat{n}_x} + q_y \mathbf{\hat{n}_y}\\ - ^{\mathbf{N}}\mathbf{v}^P &= \frac{^{\mathbf{N}} d \mathbf{r}^{OP}}{dt}\\ + {}^{\mathbf{N}}\mathbf{v}^P &= \frac{{}^{\mathbf{N}} d \mathbf{r}^{OP}}{dt}\\ \textrm{then we can calculate: } - ^{\mathbf{N}}\mathbf{v}^P &= \dot{q}_x\mathbf{\hat{n}_x} + + {}^{\mathbf{N}}\mathbf{v}^P &= \dot{q}_x\mathbf{\hat{n}_x} + \dot{q}_y\mathbf{\hat{n}_y}\\ \textrm{and :} - ^{\mathbf{N}}\mathbf{a}^P &= \frac{^{\mathbf{N}} d - ^{\mathbf{N}}\mathbf{v}^P}{dt}\\ - ^{\mathbf{N}}\mathbf{a}^P &= \ddot{q}_x\mathbf{\hat{n}_x} + + {}^{\mathbf{N}}\mathbf{a}^P &= \frac{{}^{\mathbf{N}} d + {}^{\mathbf{N}}\mathbf{v}^P}{dt}\\ + {}^{\mathbf{N}}\mathbf{a}^P &= \ddot{q}_x\mathbf{\hat{n}_x} + \ddot{q}_y\mathbf{\hat{n}_y}\\ It is critical to understand in the above example that the point :math:`O` is @@ -236,10 +236,10 @@ just defining the velocity vector. For the above example: .. math:: \textrm{Let us instead define the velocity vector as: } - ^{\mathbf{N}}\mathbf{v}^P &= u_x \mathbf{\hat{n}_x} + + {}^{\mathbf{N}}\mathbf{v}^P &= u_x \mathbf{\hat{n}_x} + u_y \mathbf{\hat{n}_y}\\ \textrm{then acceleration can be written as: } - ^{\mathbf{N}}\mathbf{a}^P &= \dot{u}_x \mathbf{\hat{n}_x} + + {}^{\mathbf{N}}\mathbf{a}^P &= \dot{u}_x \mathbf{\hat{n}_x} + \dot{u}_y \mathbf{\hat{n}_y}\\ @@ -256,12 +256,12 @@ velocity of the body :math:`\mathbf{B}`, both defined in the reference frame of the point :math:`P` in :math:`\mathbf{N}` as follows: .. math:: - ^{\mathbf{N}}\mathbf{v}^P &= ^\mathbf{N}\mathbf{v}^S + - ^\mathbf{N}\mathbf{\omega}^\mathbf{B} \times \mathbf{r}^{SP}\\ - ^{\mathbf{N}}\mathbf{a}^P &= ^\mathbf{N}\mathbf{a}^S + - ^\mathbf{N}\mathbf{\alpha}^\mathbf{B} \times \mathbf{r}^{SP} + - ^\mathbf{N}\mathbf{\omega}^\mathbf{B} \times - (^\mathbf{N}\mathbf{\omega}^\mathbf{B} \times \mathbf{r}^{SP})\\ + {}^{\mathbf{N}}\mathbf{v}^P &={}^\mathbf{N}\mathbf{v}^S + + {}^\mathbf{N}\boldsymbol{\omega}^\mathbf{B} \times \mathbf{r}^{SP}\\ + {}^{\mathbf{N}}\mathbf{a}^P &={}^\mathbf{N}\mathbf{a}^S + + {}^\mathbf{N}\boldsymbol{\alpha}^\mathbf{B} \times \mathbf{r}^{SP} + + {}^\mathbf{N}\boldsymbol{\omega}^\mathbf{B} \times + (^\mathbf{N}\boldsymbol{\omega}^\mathbf{B} \times \mathbf{r}^{SP})\\ When only one of the two points is fixed on a body, the 1 point theorem is used instead. @@ -276,15 +276,15 @@ the velocity of the point :math:`P` is known in the frame associated with body :math:`P` in :math:`\mathbf{N}` as: .. math:: - ^{\mathbf{N}}\mathbf{v}^P &= ^\mathbf{B}\mathbf{v}^P + - ^\mathbf{N}\mathbf{v}^S + ^\mathbf{N}\mathbf{\omega}^\mathbf{B} \times + {}^{\mathbf{N}}\mathbf{v}^P &={}^\mathbf{B}\mathbf{v}^P + + {}^\mathbf{N}\mathbf{v}^S +{}^\mathbf{N}\boldsymbol{\omega}^\mathbf{B} \times \mathbf{r}^{SP}\\ - ^{\mathbf{N}}\mathbf{a}^P &= ^\mathbf{B}\mathbf{a}^S + - ^\mathbf{N}\mathbf{a}^O + ^\mathbf{N}\mathbf{\alpha}^\mathbf{B} - \times \mathbf{r}^{SP} + ^\mathbf{N}\mathbf{\omega}^\mathbf{B} \times - (^\mathbf{N}\mathbf{\omega}^\mathbf{B} \times \mathbf{r}^{SP}) + - 2 ^\mathbf{N}\mathbf{\omega}^\mathbf{B} \times ^\mathbf{B} \mathbf{v}^P \\ + {}^{\mathbf{N}}\mathbf{a}^P &={}^\mathbf{B}\mathbf{a}^S + + {}^\mathbf{N}\mathbf{a}^O +{}^\mathbf{N}\boldsymbol{\alpha}^\mathbf{B} + \times \mathbf{r}^{SP} +{}^\mathbf{N}\boldsymbol{\omega}^\mathbf{B} \times + (^\mathbf{N}\boldsymbol{\omega}^\mathbf{B} \times \mathbf{r}^{SP}) + + 2{}^\mathbf{N}\boldsymbol{\omega}^\mathbf{B} \times{}^\mathbf{B} \mathbf{v}^P \\ Examples of applications of the 1 point and 2 point theorem follow. @@ -297,16 +297,16 @@ define the angular velocity of the body :math:`\mathbf{B}` and velocity of the point :math:`O`: .. math:: - ^\mathbf{N}\mathbf{\omega}^\mathbf{B} &= u_3 \mathbf{\hat{n}_z} = u_3 + {}^\mathbf{N}\boldsymbol{\omega}^\mathbf{B} &= u_3 \mathbf{\hat{n}_z} = u_3 \mathbf{\hat{b}_z}\\ - ^\mathbf{N}\mathbf{v}^O &= u_1 \mathbf{\hat{n}_x} + u_2 \mathbf{\hat{n}_y}\\ + {}^\mathbf{N}\mathbf{v}^O &= u_1 \mathbf{\hat{n}_x} + u_2 \mathbf{\hat{n}_y}\\ and accelerations can be written as: .. math:: - ^\mathbf{N}\mathbf{\alpha}^\mathbf{B} &= \dot{u_3} \mathbf{\hat{n}_z} = + {}^\mathbf{N}\boldsymbol{\alpha}^\mathbf{B} &= \dot{u_3} \mathbf{\hat{n}_z} = \dot{u_3} \mathbf{\hat{b}_z}\\ - ^\mathbf{N}\mathbf{a}^O &= \dot{u_1} \mathbf{\hat{n}_x} + \dot{u_2} + {}^\mathbf{N}\mathbf{a}^O &= \dot{u_1} \mathbf{\hat{n}_x} + \dot{u_2} \mathbf{\hat{n}_y}\\ We can use the 2 point theorem to calculate the velocity and acceleration of @@ -314,20 +314,20 @@ point :math:`P` now. .. math:: \mathbf{r}^{OP} &= R \mathbf{\hat{b}_x}\\ - ^\mathbf{N}\mathbf{v}^P &= ^\mathbf{N}\mathbf{v}^O + - ^\mathbf{N}\mathbf{\omega}^\mathbf{B} \times \mathbf{r}^{OP}\\ - ^\mathbf{N}\mathbf{v}^P &= u_1 \mathbf{\hat{n}_x} + u_2 \mathbf{\hat{n}_y} + {}^\mathbf{N}\mathbf{v}^P &={}^\mathbf{N}\mathbf{v}^O + + {}^\mathbf{N}\boldsymbol{\omega}^\mathbf{B} \times \mathbf{r}^{OP}\\ + {}^\mathbf{N}\mathbf{v}^P &= u_1 \mathbf{\hat{n}_x} + u_2 \mathbf{\hat{n}_y} + u_3 \mathbf{\hat{b}_z} \times R \mathbf{\hat{b}_x} = u_1 \mathbf{\hat{n}_x} + u_2 \mathbf{\hat{n}_y} + u_3 R \mathbf{\hat{b}_y}\\ - ^{\mathbf{N}}\mathbf{a}^P &= ^\mathbf{N}\mathbf{a}^O + - ^\mathbf{N}\mathbf{\alpha}^\mathbf{B} \times \mathbf{r}^{OP} + - ^\mathbf{N}\mathbf{\omega}^\mathbf{B} \times - (^\mathbf{N}\mathbf{\omega}^\mathbf{B} \times \mathbf{r}^{OP})\\ - ^{\mathbf{N}}\mathbf{a}^P &= \dot{u_1} \mathbf{\hat{n}_x} + \dot{u_2} + {}^{\mathbf{N}}\mathbf{a}^P &={}^\mathbf{N}\mathbf{a}^O + + {}^\mathbf{N}\boldsymbol{\alpha}^\mathbf{B} \times \mathbf{r}^{OP} + + {}^\mathbf{N}\boldsymbol{\omega}^\mathbf{B} \times + (^\mathbf{N}\boldsymbol{\omega}^\mathbf{B} \times \mathbf{r}^{OP})\\ + {}^{\mathbf{N}}\mathbf{a}^P &= \dot{u_1} \mathbf{\hat{n}_x} + \dot{u_2} \mathbf{\hat{n}_y} + \dot{u_3}\mathbf{\hat{b}_z}\times R \mathbf{\hat{b}_x} +u_3\mathbf{\hat{b}_z}\times(u_3\mathbf{\hat{b}_z}\times R\mathbf{\hat{b}_x})\\ - ^{\mathbf{N}}\mathbf{a}^P &= \dot{u_1} \mathbf{\hat{n}_x} + \dot{u_2} + {}^{\mathbf{N}}\mathbf{a}^P &= \dot{u_1} \mathbf{\hat{n}_x} + \dot{u_2} \mathbf{\hat{n}_y} + R\dot{u_3}\mathbf{\hat{b}_y} - R u_3^2 \mathbf{\hat{b}_x}\\ @@ -342,16 +342,16 @@ point :math:`O`'s velocity is zero in :math:`\mathbf{N}`. .. math:: \mathbf{r}^{OQ} &= l \mathbf{\hat{b}_x}\\ \mathbf{r}^{QP} &= l \mathbf{\hat{c}_x}\\ - ^\mathbf{N}\mathbf{\omega}^\mathbf{B} &= u_1 \mathbf{\hat{b}_z}\\ - ^\mathbf{N}\mathbf{\omega}^\mathbf{C} &= u_2 \mathbf{\hat{c}_z}\\ - ^\mathbf{N}\mathbf{v}^Q &= ^\mathbf{N}\mathbf{v}^O + - ^\mathbf{N}\mathbf{\omega}^\mathbf{B} \times \mathbf{r}^{OQ}\\ - ^\mathbf{N}\mathbf{v}^Q &= u_1 l \mathbf{\hat{b}_y}\\ - ^\mathbf{N}\mathbf{v}^P &= ^\mathbf{N}\mathbf{v}^Q + - ^\mathbf{N}\mathbf{\omega}^\mathbf{C} \times \mathbf{r}^{QP}\\ - ^\mathbf{N}\mathbf{v}^Q &= u_1 l \mathbf{\hat{b}_y} +u_2 \mathbf{\hat{c}_z} + {}^\mathbf{N}\boldsymbol{\omega}^\mathbf{B} &= u_1 \mathbf{\hat{b}_z}\\ + {}^\mathbf{N}\boldsymbol{\omega}^\mathbf{C} &= u_2 \mathbf{\hat{c}_z}\\ + {}^\mathbf{N}\mathbf{v}^Q &={}^\mathbf{N}\mathbf{v}^O + + {}^\mathbf{N}\boldsymbol{\omega}^\mathbf{B} \times \mathbf{r}^{OQ}\\ + {}^\mathbf{N}\mathbf{v}^Q &= u_1 l \mathbf{\hat{b}_y}\\ + {}^\mathbf{N}\mathbf{v}^P &={}^\mathbf{N}\mathbf{v}^Q + + {}^\mathbf{N}\boldsymbol{\omega}^\mathbf{C} \times \mathbf{r}^{QP}\\ + {}^\mathbf{N}\mathbf{v}^Q &= u_1 l \mathbf{\hat{b}_y} +u_2 \mathbf{\hat{c}_z} \times l \mathbf{\hat{c}_x}\\ - ^\mathbf{N}\mathbf{v}^Q &= u_1 l\mathbf{\hat{b}_y}+u_2 l\mathbf{\hat{c}_y}\\ + {}^\mathbf{N}\mathbf{v}^Q &= u_1 l\mathbf{\hat{b}_y}+u_2 l\mathbf{\hat{c}_y}\\ .. raw:: html :file: kin_4.svg @@ -363,20 +363,20 @@ the two point theorem to find the velocity of the center point of the ring, the ring. .. math:: - ^\mathbf{N}\mathbf{\omega}^\mathbf{C} &= u_1 \mathbf{\hat{n}_x}\\ + {}^\mathbf{N}\boldsymbol{\omega}^\mathbf{C} &= u_1 \mathbf{\hat{n}_x}\\ \mathbf{r}^{OQ} &= -l \mathbf{\hat{c}_z}\\ - ^\mathbf{N}\mathbf{v}^Q &= u_1 l \mathbf{\hat{c}_y}\\ + {}^\mathbf{N}\mathbf{v}^Q &= u_1 l \mathbf{\hat{c}_y}\\ \mathbf{r}^{QP} &= R(cos(q_2) \mathbf{\hat{c}_x} + sin(q_2) \mathbf{\hat{c}_y} )\\ - ^\mathbf{C}\mathbf{v}^P &= R u_2 (-sin(q_2) \mathbf{\hat{c}_x} + {}^\mathbf{C}\mathbf{v}^P &= R u_2 (-sin(q_2) \mathbf{\hat{c}_x} + cos(q_2) \mathbf{\hat{c}_y} )\\ - ^\mathbf{N}\mathbf{v}^P &= ^\mathbf{C}\mathbf{v}^P +^\mathbf{N}\mathbf{v}^Q - + ^\mathbf{N}\mathbf{\omega}^\mathbf{C} \times \mathbf{r}^{QP}\\ - ^\mathbf{N}\mathbf{v}^P &= R u_2 (-sin(q_2) \mathbf{\hat{c}_x} + {}^\mathbf{N}\mathbf{v}^P &={}^\mathbf{C}\mathbf{v}^P +^\mathbf{N}\mathbf{v}^Q + +{}^\mathbf{N}\boldsymbol{\omega}^\mathbf{C} \times \mathbf{r}^{QP}\\ + {}^\mathbf{N}\mathbf{v}^P &= R u_2 (-sin(q_2) \mathbf{\hat{c}_x} + cos(q_2) \mathbf{\hat{c}_y} ) + u_1 l \mathbf{\hat{c}_y} + u_1 \mathbf{\hat{c}_x} \times R(cos(q_2) \mathbf{\hat{c}_x} + sin(q_2) \mathbf{\hat{c}_y}\\ - ^\mathbf{N}\mathbf{v}^P &= - R u_2 sin(q_2) \mathbf{\hat{c}_x} + {}^\mathbf{N}\mathbf{v}^P &= - R u_2 sin(q_2) \mathbf{\hat{c}_x} + (R u_2 cos(q_2)+u_1 l)\mathbf{\hat{c}_y} + R u_1 sin(q_2) \mathbf{\hat{c}_z}\\ diff --git a/dev/_sources/modules/integrals/g-functions.rst.txt b/dev/_sources/modules/integrals/g-functions.rst.txt index 5185d1566f9..398b4c6fdd4 100644 --- a/dev/_sources/modules/integrals/g-functions.rst.txt +++ b/dev/_sources/modules/integrals/g-functions.rst.txt @@ -287,7 +287,7 @@ We introduce the following notation: .. math:: \lambda_{s0}(c_1, c_2) = c_1 (q - p)|\omega|^{1/(q - p)} \sin{\psi} + c_2 (v - u)|\sigma|^{1/(v - u)} \sin{\theta} .. math:: \lambda_s = - \begin{cases} \operatorname{\lambda_{s0}}\left(-1,-1\right) \operatorname{\lambda_{s0}}\left(1,1\right) & \text{for}\: \arg(\omega) = 0 \wedge \arg(\sigma) = 0 \\\operatorname{\lambda_{s0}}\left(\operatorname{sign}\left(\operatorname{\arg}\left(\omega\right)\right),-1\right) \operatorname{\lambda_{s0}}\left(\operatorname{sign}\left(\operatorname{\arg}\left(\omega\right)\right),1\right) & \text{for}\: \arg(\omega) \ne 0 \wedge \arg(\sigma) = 0 \\\operatorname{\lambda_{s0}}\left(-1,\operatorname{sign}\left(\operatorname{\arg}\left(\sigma\right)\right)\right) \operatorname{\lambda_{s0}}\left(1,\operatorname{sign}\left(\operatorname{\arg}\left(\sigma\right)\right)\right) & \text{for}\: \arg(\omega) = 0 \wedge \arg(\sigma) \ne 0) \\\operatorname{\lambda_{s0}}\left(\operatorname{sign}\left(\operatorname{\arg}\left(\omega\right)\right),\operatorname{sign}\left(\operatorname{\arg}\left(\sigma\right)\right)\right) & \text{otherwise} \end{cases} + \begin{cases} \lambda_{s0}\left(-1,-1\right) \lambda_{s0}\left(1,1\right) & \text{for}\: \arg(\omega) = 0 \wedge \arg(\sigma) = 0 \\\lambda_{s0}\left(\operatorname{sign}\left(\operatorname{\arg}\left(\omega\right)\right),-1\right) \lambda_{s0}\left(\operatorname{sign}\left(\operatorname{\arg}\left(\omega\right)\right),1\right) & \text{for}\: \arg(\omega) \ne 0 \wedge \arg(\sigma) = 0 \\\lambda_{s0}\left(-1,\operatorname{sign}\left(\operatorname{\arg}\left(\sigma\right)\right)\right) \lambda_{s0}\left(1,\operatorname{sign}\left(\operatorname{\arg}\left(\sigma\right)\right)\right) & \text{for}\: \arg(\omega) = 0 \wedge \arg(\sigma) \ne 0) \\\lambda_{s0}\left(\operatorname{sign}\left(\operatorname{\arg}\left(\omega\right)\right),\operatorname{sign}\left(\operatorname{\arg}\left(\sigma\right)\right)\right) & \text{otherwise} \end{cases} .. math:: z_0 = \frac{\omega}{\sigma} e^{-i\pi (b^* + c^*)} .. math:: z_1 = \frac{\sigma}{\omega} e^{-i\pi (b^* + c^*)} diff --git a/dev/_sources/modules/simplify/hyperexpand.rst.txt b/dev/_sources/modules/simplify/hyperexpand.rst.txt index b0f4f1c2a2e..73f0fdbf7c2 100644 --- a/dev/_sources/modules/simplify/hyperexpand.rst.txt +++ b/dev/_sources/modules/simplify/hyperexpand.rst.txt @@ -488,8 +488,8 @@ first basis element `B_0` is set to the expression for `{}_1 F_2` from above: .. math :: - B_0 = \frac{ \sqrt{\pi} \exp\left(-\frac{\mathbf{\imath}\pi}{4}\right) - C\left( \frac{2}{\sqrt{\pi}} \exp\left(\frac{\mathbf{\imath}\pi}{4}\right) z^{\frac{1}{4}}\right)} + B_0 = \frac{ \sqrt{\pi} \exp\left(-\frac{\imath\pi}{4}\right) + C\left( \frac{2}{\sqrt{\pi}} \exp\left(\frac{\imath\pi}{4}\right) z^{\frac{1}{4}}\right)} {2 z^{\frac{1}{4}}} Next we compute `z\frac{\mathrm{d}}{\mathrm{d}z} B_0`. For this we can @@ -510,8 +510,8 @@ Formatting this result nicely we obtain B_1^\prime = - \frac{1}{4} \frac{ \sqrt{\pi} - \exp\left(-\frac{\mathbf{\imath}\pi}{4}\right) - C\left( \frac{2}{\sqrt{\pi}} \exp\left(\frac{\mathbf{\imath}\pi}{4}\right) z^{\frac{1}{4}}\right) + \exp\left(-\frac{\imath\pi}{4}\right) + C\left( \frac{2}{\sqrt{\pi}} \exp\left(\frac{\imath\pi}{4}\right) z^{\frac{1}{4}}\right) } {2 z^{\frac{1}{4}}} + \frac{1}{4} \cosh{\left( 2 \sqrt{z} \right )} @@ -534,8 +534,8 @@ which can be printed as B_2^\prime = \frac{1}{16} \frac{ \sqrt{\pi} - \exp\left(-\frac{\mathbf{\imath}\pi}{4}\right) - C\left( \frac{2}{\sqrt{\pi}} \exp\left(\frac{\mathbf{\imath}\pi}{4}\right) z^{\frac{1}{4}}\right) + \exp\left(-\frac{\imath\pi}{4}\right) + C\left( \frac{2}{\sqrt{\pi}} \exp\left(\frac{\imath\pi}{4}\right) z^{\frac{1}{4}}\right) } {2 z^{\frac{1}{4}}} - \frac{1}{16} \cosh{\left(2\sqrt{z}\right)} @@ -553,8 +553,8 @@ choose `B_1` and `B_2` as follows \left( \begin{matrix} \frac{ \sqrt{\pi} - \exp\left(-\frac{\mathbf{\imath}\pi}{4}\right) - C\left( \frac{2}{\sqrt{\pi}} \exp\left(\frac{\mathbf{\imath}\pi}{4}\right) z^{\frac{1}{4}}\right) + \exp\left(-\frac{\imath\pi}{4}\right) + C\left( \frac{2}{\sqrt{\pi}} \exp\left(\frac{\imath\pi}{4}\right) z^{\frac{1}{4}}\right) }{2 z^{\frac{1}{4}}} \\ \cosh\left(2\sqrt{z}\right) \\ \sinh\left(2\sqrt{z}\right) \sqrt{z} diff --git a/dev/citing.html b/dev/citing.html index 5e064e8fad0..18852019a3d 100644 --- a/dev/citing.html +++ b/dev/citing.html @@ -875,7 +875,7 @@
Reduce expression by combining powers with similar bases and exponents.
Explanation
If deep
is True
then powsimp() will also simplify arguments of
@@ -1688,7 +1688,7 @@
The angular velocity of a rigid body refers to the rate of change of its orientation. The angular velocity of a body is written down as: -\(^{\mathbf{N}}\mathbf{\omega}^{\mathbf{B}}\), or the angular velocity of +\(^{\mathbf{N}}\boldsymbol{\omega}^{\mathbf{B}}\), or the angular velocity of \(\mathbf{B}\) in \(\mathbf{N}\), which is a vector. Note that here, the term rigid body was used, but reference frames can also have angular velocities. Further discussion of the distinction between a rigid body and a @@ -869,16 +869,16 @@
It is also common for a body’s angular velocity to be written as:
There are a few additional important points relating to angular velocity. The @@ -886,11 +886,11 @@
This is also shown in the following example: