Name: angular momentum in principal axes
Uploaded: 2024-03-07T13:22:28.000Z
Duration: 1 min 9 s
Channel: JoVE

剛体の角運動量は、質量要素の位置ベクトルの外積と、体の角速度および位置ベクトルの外積との積分として表すことができます。
この方程式は、参照フレームに対して任意に傾斜している別のxyz軸のセットを選択することにより、直交座標の観点から記述できます。
角運動量の矩形成分は、クロス積を展開し、i、j、k 項を組み合わせ、慣性積の定義を適用することによって導出されます。
これらの方程式は、剛体の主軸を形成するようにxyz軸を選択することで、さらに簡略化できます。
この場合、角運動量の直角成分は、xyz 軸の周りの主慣性モーメントで表されます。
角運動量のこれらの各成分は互いに独立しており、角運動量の保存の原理に独立して従います。

 角運動量と慣性主軸

Angular Momentum and Principle Axes of Inertia

固体構造の角運動量の概念は、質量要素の位置ベクトルの外積と物体の角速度と位置ベクトルの外積の累積結果として示されます。

この方程式をより簡単な言葉で表すと、直交座標を使用して再構成できます。 これには、基準フレームに対して任意に傾斜した XYZ 軸の代替セットを選択することが含まれます。 角運動量の長方形成分を導出するプロセスには、外積の展開、成分の結合、および慣性積の定義の適用が含まれます。 導出された方程式は、固体構造の主軸を作成するような方法で XYZ 軸を選択することによってさらに簡素化できます。

この特定の例では、角運動量の長方形の成分が、XYZ 軸の周りの主慣性モーメントに関連して表現されます。 角運動量の各成分は他の成分とは異なり、独立して角運動量保存則に従います。 これは、個々のコンポーネントが他のコンポーネントに影響を与えず、その運動量を個別に維持することを意味します。 このアプローチにより、動作中の剛体の力学をより包括的に理解できるようになり、さまざまな条件下での剛体の動きや挙動をより正確に予測できるようになります。

剛体の角運動量は、質量要素の位置ベクトルの外積と...

angular-momentum-and-principle-axes-of-inertia

Education

JoVE Core

Mechanical Engineering

機械工学

Unit 1

ユニット1

3-Dimensional Kinetics of a Rigid Body

剛体の三次元動力学

KEY TERMS AND CONCEPTS

主要用語および概念

angular momentum in principal axes

Angular momentum in a rigid body can be written using rectangular coordinates. The body’s angular momentum comes from the cross-product of each mass element’s position vector with the cross-product of the body’s angular velocity and that position vector. This gives a compact way to describe how a solid structure moves in rotation.

To work with the equation more easily, the XYZ axes can be chosen as a new set of rectangular axes. These axes may be inclined at any angle to the reference frame. The rectangular components of angular momentum are then found by expanding the cross-products, combining terms, and using the definition of product of inertia. Product of inertia describes how mass is distributed relative to a pair of axes.

The equations can be simplified further by choosing the XYZ axes to be principal axes of the solid structure. In that case, the rectangular components of angular momentum are written in terms of the principal moments of inertia about the XYZ axes. Each angular momentum component is separate from the others. Each one also follows the conservation of angular momentum on its own, so one component does not affect the others. This makes the motion of a rigid body easier to analyze and helps predict its behavior under different conditions.

Angular Momentum in Principal Axes

moments and product of inertia

Moment and Product of Inertia Basics

Moment of inertia and product of inertia describe how mass is distributed in a rigid body. They help show how the body responds about coordinate axes and planes. For a small mass element, the moment of inertia is found by multiplying the element's mass by the square of the shortest distance to one of the three coordinate axes. That same idea is extended to the whole body by integration. Adding the contributions of all the small mass elements gives the body's moment of inertia about that axis.

inertia tensor

Principal Axes and Moments of Inertia

The inertia tensor describes how mass is spread out in a rigid body and how that body resists rotation. It is written as a 3×3 matrix, and each entry represents a moment of inertia about a particular axis. This makes the tensor a compact way to study rotational behavior in three dimensions. The diagonal entries show the moments of inertia about the principal axes. These principal axes are the directions where the object has the least resistance to rotation. A smaller moment of inertia along...

moment of inertia about an arbitrary axis

moment-of-inertia-about-an-arbitrary-axis

Calculating Moment of Inertia on Any Axis

Moment of inertia can be calculated about any chosen axis, not just a principal axis. It depends on the mass distribution of the object along that axis. This makes it useful when an object rotates in a real machine or other setup where balance and stability matter. To find the moment of inertia about an arbitrary axis, the perpendicular distance from the axis to each mass element is needed. That distance is obtained with a cross product between the unit vector that gives the axis direction and...

angular momentum about an arbitrary axis

Angular Momentum Relative to Point P

Angular momentum relative to point P is found by adding the motion of every mass element in a rigid body. The body has mass m and a center of mass at point G. It rotates in an inertial reference frame, and the angular momentum at P comes from the cross product of each position vector and its linear momentum. To build the full expression, the velocity of each mass element is written as two parts. One part is the translational velocity of the body. The other part is the relative velocity caused...

angular momentum and principle axes of inertia

Angular momentum in a rigid body can be written using rectangular coordinates. The body’s angular momentum comes from the cross-product of each mass element’s position vector with the cross-product of the body’s angular velocity and that position vector. This gives a compact way to describe how a solid structure moves in rotation. To work with the equation more easily, the XYZ axes can be chosen as a new set of rectangular axes. These axes may be inclined at any angle to the reference frame.

principle of impulse and moment

Impulse and Angular Momentum in Rigid Bodies

Impulse and angular momentum help describe a rigid body moving in a plane. This motion combines translation and rotation. The topic uses Newton's second law to connect force, momentum, and motion. For translational motion, the equation is written for the center of mass, labeled G. When this equation is multiplied by a small time interval, dt, and integrated, it gives the principle of linear impulse. This principle shows that a change in momentum is proportional to the impulse applied to the...

kinetic energy for a rigid body

Rigid Body Energy from Center and Rotation

Rigid body kinetic energy in planar motion can be written using the body’s center of mass and its rotation. The solid object moves in general planar motion, and its center of mass is marked at point G. To find the kinetic energy of the i-th particle, the relative velocity definition is used with the position vector rA from point A to that particle. The kinetic energy of the whole body is built from the particles. First, a scalar product is taken. Then the expression is written in integral form.

equation of motion for a rigid body

Rigid Body Motion: Force and Moment Balance

Rigid body motion is described with both translational motion and rotational motion about the center of mass, point G. The center of mass is the point where Newton's Second Law applies to translation. It gives the linear motion of the body. The same body also has rotational motion about point G. The combined moments about the center of mass equal the rate of change of angular momentum. A moment is the turning effect caused by a force, and an external force applied away from the center of mass...

euler equations of motion

Rigid Body Rotation in Euler’s Frame

Euler’s equations of motion describe how a rigid body rotates when measured in a moving frame attached to the body. The body rotates with angular velocity ω in an inertial frame, and the attached frame rotates with angular velocity Ω. Together, these two frames help describe the motion of the rigid body around its center of mass. The total moment about the center of mass is found by adding two parts. One part is the rate of change of angular momentum about the center of mass in the rotating...

torque free motion

Mars Spin Under No Torque

Torque-free motion describes the movement of a rigid body when no external torques act on it. It can be seen in places with no outside forces or friction, such as outer space. Mars is one example of this kind of motion because it rotates in space without external torque. Mars is an axisymmetric object, which means it has an axis of symmetry. That symmetry defines the rotating z-axis. The rotating frame is set so that Mars&amp;#39;s center of mass is at the origin. This setup makes the moments...

key terms and concepts

Learn how rigid body angular momentum is written in rectangular coordinates, simplified with principal axes, and linked to principal moments of inertia.

Angular Momentum in Principal Axes | JoVE K12

JoVE Core 機械工学は、平衡、力、トラス解析、構造力学などの重要なトピックをカバーする簡潔でわかりやすいアニメーション ビデオを提供します。実際のアプリケーションを探索し、科学者主導の実験を通じてこれらのコンセプトが実際に動作しているのを目撃してください。

mechanical engineering

Angular Momentum in Principal Axes

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