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Exact solutions are found for Euler's equations of rigid body motion for general asymmetrical bodies under the influence of torque by using Jacobi elliptic functions. Differential equations are determined for the amplitudes and the…
The fundamental equation describing the rotational dynamics of a rigid body is ${\vec \tau}=d{\vec L} / dt$ which is a straightforward consequence of the Newton's second law of motion and is only valid in an inertial coordinate system.…
Jacobi elliptic functions are flexible functions that appear in a variety of problems in physics and engineering. We introduce and describe important features of these functions and present a physical example from classical mechanics where…
Screw theory provides geometrical insight into the mechanics of rigid bodies. Screw axis is defined as the line coinciding with the joint axis. Line transformations in the form of a screw operator are used to determine the joint axes of a…
The exact analytic solution is introduced for the rotational motion of a rigid body having three equal principal moments of inertia and subjected to an external torque vector which is constant for an observer fixed with the body, and to…
An explicit expression for the Jacobi metric for a general Lagrangian system is obtained as a series expansion in the square root of the kinetic energy of the system and the corresponding geodesics are described in terms of an appropriate…
In this paper we are interested in developments of elliptic functions of Jacobi. In particular a trigonometric expansion of the classical theta functions introduced by the author (Algebraic methods and q-special functions, Editors: C.R.M.…
In geometric algebra, the rotation of a vector is described using rotors. Rotors are phasors where the imaginary number has been replaced by a oriented plane element of unit area called a unit bivector. The algebra in three dimensional…
New method of analysing the free and heavy symmetric tops using Euler's equations to perform extraction from the body frame to the lab frame. Subsequent to extraction, the lab frame equations are solved by space phasor method.
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…
Elliptic functions are largely studied and standardized mathematical objects. The two usual approaches are due to Jacobi and Weierstrass. From a contour integral which allowed us to unify many summation formulae (Euler-MacLaurin, Poisson,…
This research investigates the rotational dynamics of a charged axisymmetric spinning rigid body influenced by gyrostatic torque. The study also accounts for the effects of transverse and constant body-fixed torques and an electromagnetic…
We present the Jacobi metric formalism for dynamical wormholes. We show that in isotropic dynamical spacetimes , a first integral of the geodesic equations can be found using the Jacobi metric, and without any use of geodesic equation. This…
In this paper we consider cases of existence of invariant measure, additional first integrals, and Poisson structure in a problem of rigid body's rolling without sliding on plane and sphere. The problem of rigid body's motion on plane was…
With regard to homeoidally striated Jacobi ellipsoids, a unified theory of systematically rotating and peculiar motions is developed, where both real and imaginary rotation are considered. The effect of positive or negative residual motion…
The paper is concerned with the problem on rolling of a homogeneous ball on an arbitrary surface. New cases when the problem is solved by quadratures are presented. The paper also indicates a special case when an additional integral and…
In this paper we consider the circular restricted three body problem which models the motion of a masless body under the influence of the Newtionan gravitational force caused by two other bodies, the primaries, which move along cicular…
Manipulator kinematics is concerned with the motion of each link within a manipulator without considering mass or force. In this article, which is the first in a two-part tutorial, we provide an introduction to modelling manipulator…
The Jacobi and Weierstrass elliptic functions used to be part of the standard mathematical arsenal of physics students. They appear as solutions of many important problems in classical mechanics: the motion of a planar pendulum (Jacobi),…
We study the integrable system of first order differential equations $\omega_i(v)'=\alpha_i\,\prod_{j\neq i}\omega_j(v)$, $(1\!\leq i, j\leq\! N)$ as an initial value problem, with real coefficients $\alpha_i$ and initial conditions…