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Group Members Muhammad Rehan Khan (090872) Saad Waqar (090809) Malik Muhammad Umar Farooq (090755)
F=m M=I Above equations are for inertial frame U = Tangential Velocity in body frame V = Tangential Velocity in body frame W = Tangential Velocity in body frame P = Rotational Velocity in body frame Q = Rotational Velocity in body frame
= [ ]
= [ ]
[ ]
State Vector
X = [ ] By using newtons law F=m | | = | So =m | = | = | -
As F= + [ ]
= mg[
[ ] ( So [ ] ( [
] +[ ] )
_[ ]
[ ]
]+ [
] )_[ ]
[ ]
= [
]+
]-[
[ ]=[
So = ..(i)
...(ii)
..(iii)
v=
w=
p=
q=
r=
Trigonometric Identity
Cos ( + ) = Coscos Sinsin
Sin ( Cos (
+ +
) = Sin ) = Cos
= =1
So ( + ( +
=(
+Sin
cos )
So - gsin = -g = -g
..(A)
+ gcos
So =g
.(B)
= 2 (C)