PH Rigid Body Mechanics
William B. Heard
Rigid Body Mechanics
William B. Heard
Rigid Body Mechanics
Mathematics, Physics and Applications
WILEY-VCH Verlag GmbH & Co. KGaA
The Author
William B. Heard
Alexandria, VA
USA
For a Solutions Manual, lecturers should contact the editorial department at physics@wiley-vch.de, stating their affiliation and the course in which they wish to use the book
All books published by Wiley-VCH are carefully produced. Nevertheless, authors, editors, and publisher do not warrant the information contained in these books, including this book, to be free of errors. Readers are advised to keep in mind that statements, data, illustrations, procedural details or other items may inadvertently be inaccurate.
Library of Congress Card No.: applied for
British Library Cataloguing-inPublication Data
A catalogue record for this book is available from the British Library.
Bibliographic information published by
Die Deutsche Bibliothek
Die Deutsche Bibliothek lists this publication in the Deutsche
Nationalbibliografie; detailed bibliographic data is available in the
Internet at <http://dnb.ddb.de>.
© 2006 WILEY-VCH Verlag GmbH & Co.
KGaA, Weinheim
All rights reserved (including those of translation into other languages). No part of this book may be reproduced in any form – by photoprinting, microfilm, or any other means – nor transmitted or translated into a machine language without written permission from the publishers. Registered names, trademarks, etc. used in this book, even when not specifically marked as such, are not to be considered unprotected by law.
Printed in the Federal Republic of
Germany
Printed on acid-free paper
Printing betz-druck GmbH, Darmstadt
Binding Litges & Dopf Buchbinderei
GmbH, Heppenheim
ISBN-13: 978-3-527-40620-3
ISBN-10: 3-527-40620-4
This book is dedicated to
Peggy
and the memory of my
Mother and Father
VII
Contents
Preface
XI
1
1
Rotations
1.1
1.1.1
1.1.2
1.1.3
1.1.4
1.1.5
1.1.6
1.2
1.2.1
1.2.2
1.2.3
1.2.4
1.2.5
1.3
1.3.1
Rigid Body Mechanics
William B. Heard
Rigid Body Mechanics
Mathematics, Physics and Applications
WILEY-VCH Verlag GmbH & Co. KGaA
The Author
William B. Heard
Alexandria, VA
USA
For a Solutions Manual, lecturers should contact the editorial department at physics@wiley-vch.de, stating their affiliation and the course in which they wish to use the book
All books published by Wiley-VCH are carefully produced. Nevertheless, authors, editors, and publisher do not warrant the information contained in these books, including this book, to be free of errors. Readers are advised to keep in mind that statements, data, illustrations, procedural details or other items may inadvertently be inaccurate.
Library of Congress Card No.: applied for
British Library Cataloguing-inPublication Data
A catalogue record for this book is available from the British Library.
Bibliographic information published by
Die Deutsche Bibliothek
Die Deutsche Bibliothek lists this publication in the Deutsche
Nationalbibliografie; detailed bibliographic data is available in the
Internet at <http://dnb.ddb.de>.
© 2006 WILEY-VCH Verlag GmbH & Co.
KGaA, Weinheim
All rights reserved (including those of translation into other languages). No part of this book may be reproduced in any form – by photoprinting, microfilm, or any other means – nor transmitted or translated into a machine language without written permission from the publishers. Registered names, trademarks, etc. used in this book, even when not specifically marked as such, are not to be considered unprotected by law.
Printed in the Federal Republic of
Germany
Printed on acid-free paper
Printing betz-druck GmbH, Darmstadt
Binding Litges & Dopf Buchbinderei
GmbH, Heppenheim
ISBN-13: 978-3-527-40620-3
ISBN-10: 3-527-40620-4
This book is dedicated to
Peggy
and the memory of my
Mother and Father
VII
Contents
Preface
XI
1
1
Rotations
1.1
1.1.1
1.1.2
1.1.3
1.1.4
1.1.5
1.1.6
1.2
1.2.1
1.2.2
1.2.3
1.2.4
1.2.5
1.3
1.3.1