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1 line
1.0 KiB
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{"path":"Attachments/ROS2 and Safety Critical Applications.md/Exported image 20231126172013-17.png","text":"In Newtonian mechanics, the equation of motion for an object in an inertial reference fram F=ma where JF s the vector sum of the physical forces acting o the object, 17 s the mass of t Transforming this equation to a reference frame rotating about a fixed axis through the or dw ' ’ ' Fom S xr! —2muw x v —me x (w < 1) = mal where Fis the vector sum of the physical forces acting on the object w s the angular velocity, of the rotating reference frame relative to the inertial frame ' is the velocity relative to the rotating reference frame 1/ is the position vector of the object relative to the rotating reference frame a' is the acceleration relative to the rotating reference frame The fictitious forces as they are perceived in the rotating frame act as additional forces th ight 71 dw « Eulerforce —m—— x 7' dt « Coriolis force —2m(w x v') centrifugal force —mw x (w X 7')","libVersion":"0.3.1","langs":"eng"} |