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There are two main descriptions of motion: dynamics and kinematics.Dynamics is general, since the momenta, forces and energy of the particles are taken into account. In this instance, sometimes the term dynamics refers to the differential equations that the system satisfies (e.g., Newton's second law or Euler–Lagrange equations), and sometimes to the solutions to those equations.
From this point of view the kinematics equations can be used in two different ways. The first called forward kinematics uses specified values for the joint parameters to compute the end-effector position and orientation. The second called inverse kinematics uses the position and orientation of the end-effector to compute the joint parameters ...
Important formulas in kinematics define the velocity and acceleration of points in a moving body as they trace trajectories in three-dimensional space. This is particularly important for the center of mass of a body, which is used to derive equations of motion using either Newton's second law or Lagrange's equations .
In the physical science of dynamics, rigid-body dynamics studies the movement of systems of interconnected bodies under the action of external forces.The assumption that the bodies are rigid (i.e. they do not deform under the action of applied forces) simplifies analysis, by reducing the parameters that describe the configuration of the system to the translation and rotation of reference ...
For two-dimensional, plane strain problems the strain-displacement relations are = ; = [+] ; = Repeated differentiation of these relations, in order to remove the displacements and , gives us the two-dimensional compatibility condition for strains
The two-body problem is solved by formulas involving parameters; their values can be changed to study the class of all solutions, that is, the mathematical structure of the problem. Moreover, an accurate mental or drawn picture can be made for the motion of two bodies, and it can be as real and accurate as the real bodies moving and interacting.
In classical mechanics, Euler's rotation equations are a vectorial quasilinear first-order ordinary differential equation describing the rotation of a rigid body, using a rotating reference frame with angular velocity ω whose axes are fixed to the body. They are named in honour of Leonhard Euler. Their general vector form is
The transport theorem (or transport equation, rate of change transport theorem or basic kinematic equation or Bour's formula, named after: Edmond Bour) is a vector equation that relates the time derivative of a Euclidean vector as evaluated in a non-rotating coordinate system to its time derivative in a rotating reference frame.