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DiffTime — Differentiation with respect to time [mupad/matlab]

Reference for maple version: 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,th,3):
DeclareStates(th):
w:=MakeTranslations([a,1],[b,2]):
DiffTime(w,a);

Diff Time

DiffTime([th,3*th^2]);

Toolbox functions