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MOTION OF A PARTICLE
KINEMATICAL MOTION OF A RIGID BODY
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angular momentum angular velocity applied axis of rotation axis of symmetry base point body with respect central axis centre of mass circular coefficients components Consequently consider constant constraint corresponding couple curve denote determine the motion differential disturbed motion ellipsoid equal equations of motion equilibrium position equivalent expression fixed point follows forces acting function given hence herpolhode impulse inertia with respect instant instantaneous axis integral kinetic energy Lagrange's equations modes of oscillation moments of inertia multiplying obtained orthogonal axes parallel perpendicular polhode potential energy precession principal axes principal moments products of inertia qr's radius rate of change result right angles right-handed rigid body rotating axes scalar equations scalarly set of axes sin2 small displacement smooth solution sphere spinning steady motion substituting Suppose surface theorem theory throughout the motion uniform rod unit vector values vector displacement vector product velocity Q zero