Dynamics of a rigid test body in curved space-time

Covariant hamiltonian spin dynamics in curved space–time

Article history: Received 23 January 2015 Received in revised form 4 March 2015 Accepted 5 March 2015 Available online 10 March 2015 Editor: A. Ringwald The dynamics of spinning particles in curved space–time is discussed, emphasizing the hamiltonian formulation. Different choices of hamiltonians allow for the description of different gravitating systems. We give full results for the simplest c...

Title : Rigid body dynamics

3D Rigid Body Dynamics

The difficulty of describing the positions of the body-fixed axis of a rotating body is approached through the use of Euler angles: spin ψ̇, nutation θ and precession φ shown below in Figure 1. In this case we surmount the difficulty of keeping track of the principal axes fixed to the body by making their orientation the unknowns in our equations of motion; then the angular velocities and angula...

Frictional Rigid Body Dynamics

Practical problems like regulating robot grippers critically rely on accurately predicted friction forces. Qualified methods are derived and discussed subsequently. Special attention is paid to the question of solution existence. A time-stepping scheme which supports Coulomb friction and inelastic impacts is implemented and the numerical results are analyzed. The approach proofs to be stable, a...

An Implicit Time - Stepping Scheme for Rigid Body + fi ~ Dynamics

In this paper a new time-stepping method for simulating systems of rigid bodies is given. Unlike methods which take an instantaneous point of view, our method is based on impulse-momentum equations, and so does not need to explicitly resolve impulsive forces. On the other hand, our method is distinct from previous impulsive methods in that it does not require explicit collision checking and it ...