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DiffTime — Differentiation with respect to time [maple]

Reference: Appendix B in Multibody Mechanics and Visualization by Harry Dankowicz, published by Springer Verlag UK, 2004.

Calling Sequence

DiffTime(expr)

DiffTime(v,a)

Parameters

expr: algebraic expression, equality involving algebraic expressions, or a set, list, table, or array of algebraic expressions

v: Mambo vector

a: name of defined triad

Description

The function DiffTime returns the derivative with respect to time of expr.

In the second form, the function DiffTime returns the derivative of the vector v relative to the triad a.

Note that a time derivative of a variable is denoted by the concatenation of the letter "t" to the variable name.

Examples

>Restart():
>DeclareTriads(a,b):
>DefineTriads(a,b,theta,3):
>DeclareStates(theta):
>w:=MakeTranslations([a,1],[b,2]):
>DiffTime(w,a);

$table ([1 = table ([Coordinates = [\begin{array}{c} - thetat \\ 0 \\ 0 \end{array}], Triad = b]), Size = 1, Type = Vector])$

>DiffTime([theta,3*theta^2]);

$[thetat, 6 theta thetat]$

Toolbox functions