Titlebook: Rational Kinematics; Jorge Angeles Book 1988 Springer-Verlag New York Inc. 1988 Simulation.algorithm.algorithms.calculus.computer graphics

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Preliminary Notions,is understood to be a reference frame supplied with a clock (Truesdell 1966). This study will therefore include an introduction to invariants. The language of these is tensor analysis and multilinear algebra, both of which share many isomorphic relations, These subjects are treated in full detail in

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Acceleration Analysis of Rigid-Body Motions,and the time derivatives of the associated rotational invariants are derived, while the acceleration field of the body is derived in terms of the .. Unlike the displacement and the velocity fields, the acceleration field, in general, contains one point of zero acceleration that is unique. Indeed, as

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Acceleration Analysis of Rigid-Body Motions,y . undergoes a rotation about a stationary axis. Thus, in the case of acceleration fields, no theorem similar to that of Chasles’ for displacement fields, or its counterpart for velocity fields, exists.