Mambo Toolbox Functions - LinearMomentum


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LinearMomentum — Extraction of linear momentum of rigid body relative to observer [maple]

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

Calling Sequence

LinearMomentum(A,B)

Parameters

A: name of defined observer B: name of defined point

Description

The function LinearMomentum returns the linear momentum of a rigid body with reference point B relative to the observer A.

The linear momentum is expressed using the symbol M for the total mass of the body.

Remember to invoke DeclareStates prior to using LinearMomentum.

Examples

>Restart():
>DeclareObservers(A):
>DeclarePoints(A,B):
>DeclareTriads(a):
>DefineObservers([A,A,a]):
>DefinePoints([A,B,a,q1,q1+q2,q3]):
>DeclareStates(q1,q2,q3):
>LinearMomentum(A,B);

$table ([1 = table ([Coordinates = [\begin{array}{c} M q1t \\ M (q1t + q2t) \\ M q3t \end{array}], Triad = a]), Size = 1, Type = Vector])$

Toolbox functions

&**, &++, &--, &xx, &oo &>, &>=, &<, &<=, &==, &!= AngularMomentum AngularVelocity CoeffExtract DeclareObservers DeclarePoints DeclareStates DeclareTriads DefineNeighbors DefineObjects DefineObservers DefinePoints DefineTriads DiffTime Express FindCoordinates FindOrientation FindPosition FindRotation FindTranslation ForceDescription GeometryOutput LinearMomentum LinearVelocity MakeDescription MakeRotations MakeTranslations MomentumDescription MotionOutput NullVector Restart Simplify Undo VectorLength VelocityDescription