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torsion of a space curve expressed in terms of derivatives of
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angle angular momentum angular speed angular velocity axes called a principal centroidal principal contact forces acting curve D'Alembert's principle derivative dz dz equal to zero equation figure F ft sec-1 given in Sec Hence inertia couple instant instantaneous axis kinetic energy line 0Q line passing magnitude mass center measure numbers mile hr-1 motion moves mutually perpendicular unit Newtonian reference frame pair of directions parallel to line parallel to R'uR particles perpendicular unit vectors point fixed point Q position vector principal axis principal direction principal plane Proof R'ap R'aR R'wR rad sec-1 radius of curvature radius of gyration Referring to Problem regarded as positive relative to Q respect to line Result rigid body rotation scalar functions scalar variable set of points shaft shown in Fig slug ft2 Solution surface time-derivative tion torque unit vector parallel unit vector perpendicular unit vectors fixed vector functions vector tangent