Important frames

Three different coordinate frames will become important during the presentation:

  1. Inertial frame: The global coordinate frame that is fixed with respect to all motions of interest.
  2. Translating frame: A moving frame that has its origin at the center of mass of $ {\cal A}$ and its axes aligned with the inertial frame.
  3. Body frame: A frame that again has its origin at the center of mass of $ {\cal A}$, but its axes are rigidly attached to $ {\cal A}$. This is the same frame that was used to define bodies in Chapter 3.



Steven M LaValle 2020-08-14