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Angular Displacement
Angular displacement of a body is the angle (in radians, degrees or revolutions) through which a point revolves around a centre or a specified axis in a specified sense. When a body rotates about its axis, the motion cannot simply be analyzed as a particle, as in circular motion it undergoes a changing velocity and acceleration at any time (''t''). When dealing with the rotation of a body, it becomes simpler to consider the body itself rigid. A body is generally considered rigid when the separations between all the particles remains constant throughout the body's motion, so for example parts of its mass are not flying off. In a realistic sense, all things can be deformable, however this impact is minimal and negligible. Thus the rotation of a rigid body over a fixed axis is referred to as rotational motion. Example In the example illustrated to the right (or above in some mobile versions), a particle or body P is at a fixed distance ''r'' from the origin, ''O'', rotating ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Rotation Matrix
In linear algebra, a rotation matrix is a transformation matrix that is used to perform a rotation in Euclidean space. For example, using the convention below, the matrix :R = \begin \cos \theta & -\sin \theta \\ \sin \theta & \cos \theta \end rotates points in the plane counterclockwise through an angle with respect to the positive axis about the origin of a two-dimensional Cartesian coordinate system. To perform the rotation on a plane point with standard coordinates , it should be written as a column vector, and multiplied by the matrix : : R\mathbf = \begin \cos \theta & -\sin \theta \\ \sin \theta & \cos \theta \end \begin x \\ y \end = \begin x\cos\theta-y\sin\theta \\ x\sin\theta+y\cos\theta \end. If and are the endpoint coordinates of a vector, where is cosine and is sine, then the above equations become the trigonometric summation angle formulae. Indeed, a rotation matrix can be seen as the trigonometric summation angle formulae in matrix form. ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Rotation Group SO(3)
In mechanics and geometry, the 3D rotation group, often denoted SO(3), is the group of all rotations about the origin of three-dimensional Euclidean space \R^3 under the operation of composition. By definition, a rotation about the origin is a transformation that preserves the origin, Euclidean distance (so it is an isometry), and orientation (i.e., ''handedness'' of space). Composing two rotations results in another rotation, every rotation has a unique inverse rotation, and the identity map satisfies the definition of a rotation. Owing to the above properties (along composite rotations' associative property), the set of all rotations is a group under composition. Every non-trivial rotation is determined by its axis of rotation (a line through the origin) and its angle of rotation. Rotations are not commutative (for example, rotating ''R'' 90° in the x-y plane followed by ''S'' 90° in the y-z plane is not the same as ''S'' followed by ''R''), making the 3D rotation grou ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Skew-symmetric Matrix
In mathematics, particularly in linear algebra, a skew-symmetric (or antisymmetric or antimetric) matrix is a square matrix whose transpose equals its negative. That is, it satisfies the condition In terms of the entries of the matrix, if a_ denotes the entry in the i-th row and j-th column, then the skew-symmetric condition is equivalent to Example The matrix :A = \begin 0 & 2 & -45 \\ -2 & 0 & -4 \\ 45 & 4 & 0 \end is skew-symmetric because : -A = \begin 0 & -2 & 45 \\ 2 & 0 & 4 \\ -45 & -4 & 0 \end = A^\textsf . Properties Throughout, we assume that all matrix entries belong to a field \mathbb whose characteristic is not equal to 2. That is, we assume that , where 1 denotes the multiplicative identity and 0 the additive identity of the given field. If the characteristic of the field is 2, then a skew-symmetric matrix is the same thing as a symmetric matrix. * The sum of two skew-symmetric matrices is skew-symmetric. * A ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Matrix Exponential
In mathematics, the matrix exponential is a matrix function on square matrices analogous to the ordinary exponential function. It is used to solve systems of linear differential equations. In the theory of Lie groups, the matrix exponential gives the exponential map between a matrix Lie algebra and the corresponding Lie group. Let be an real or complex matrix. The exponential of , denoted by or , is the matrix given by the power series e^X = \sum_^\infty \frac X^k where X^0 is defined to be the identity matrix I with the same dimensions as X. The above series always converges, so the exponential of is well-defined. If is a 1×1 matrix the matrix exponential of is a 1×1 matrix whose single element is the ordinary exponential of the single element of . Properties Elementary properties Let and be complex matrices and let and be arbitrary complex numbers. We denote the identity matrix by and the zero matrix by 0. The matrix exponential satisfies the foll ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Exponential Map (Lie Theory)
In the theory of Lie groups, the exponential map is a map from the Lie algebra \mathfrak g of a Lie group G to the group, which allows one to recapture the local group structure from the Lie algebra. The existence of the exponential map is one of the primary reasons that Lie algebras are a useful tool for studying Lie groups. The ordinary exponential function of mathematical analysis is a special case of the exponential map when G is the multiplicative group of positive real numbers (whose Lie algebra is the additive group of all real numbers). The exponential map of a Lie group satisfies many properties analogous to those of the ordinary exponential function, however, it also differs in many important respects. Definitions Let G be a Lie group and \mathfrak g be its Lie algebra (thought of as the tangent space to the identity element of G). The exponential map is a map :\exp\colon \mathfrak g \to G which can be defined in several different ways. The typical modern definition i ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Rotation Group SO(3)
In mechanics and geometry, the 3D rotation group, often denoted SO(3), is the group of all rotations about the origin of three-dimensional Euclidean space \R^3 under the operation of composition. By definition, a rotation about the origin is a transformation that preserves the origin, Euclidean distance (so it is an isometry), and orientation (i.e., ''handedness'' of space). Composing two rotations results in another rotation, every rotation has a unique inverse rotation, and the identity map satisfies the definition of a rotation. Owing to the above properties (along composite rotations' associative property), the set of all rotations is a group under composition. Every non-trivial rotation is determined by its axis of rotation (a line through the origin) and its angle of rotation. Rotations are not commutative (for example, rotating ''R'' 90° in the x-y plane followed by ''S'' 90° in the y-z plane is not the same as ''S'' followed by ''R''), making the 3D rotation grou ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Lie Algebra
In mathematics, a Lie algebra (pronounced ) is a vector space \mathfrak g together with an operation called the Lie bracket, an alternating bilinear map \mathfrak g \times \mathfrak g \rightarrow \mathfrak g, that satisfies the Jacobi identity. The Lie bracket of two vectors x and y is denoted ,y/math>. The vector space \mathfrak g together with this operation is a non-associative algebra, meaning that the Lie bracket is not necessarily associative. Lie algebras are closely related to Lie groups, which are groups that are also smooth manifolds: any Lie group gives rise to a Lie algebra, which is its tangent space at the identity. Conversely, to any finite-dimensional Lie algebra over real or complex numbers, there is a corresponding connected Lie group unique up to finite coverings ( Lie's third theorem). This correspondence allows one to study the structure and classification of Lie groups in terms of Lie algebras. In physics, Lie groups appear as symmetry groups ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Matrix Exponential
In mathematics, the matrix exponential is a matrix function on square matrices analogous to the ordinary exponential function. It is used to solve systems of linear differential equations. In the theory of Lie groups, the matrix exponential gives the exponential map between a matrix Lie algebra and the corresponding Lie group. Let be an real or complex matrix. The exponential of , denoted by or , is the matrix given by the power series e^X = \sum_^\infty \frac X^k where X^0 is defined to be the identity matrix I with the same dimensions as X. The above series always converges, so the exponential of is well-defined. If is a 1×1 matrix the matrix exponential of is a 1×1 matrix whose single element is the ordinary exponential of the single element of . Properties Elementary properties Let and be complex matrices and let and be arbitrary complex numbers. We denote the identity matrix by and the zero matrix by 0. The matrix exponential satisfies the foll ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Projection (linear Algebra)
In linear algebra and functional analysis, a projection is a linear transformation P from a vector space to itself (an endomorphism) such that P\circ P=P. That is, whenever P is applied twice to any vector, it gives the same result as if it were applied once (i.e. P is idempotent). It leaves its image unchanged. This definition of "projection" formalizes and generalizes the idea of graphical projection. One can also consider the effect of a projection on a geometrical object by examining the effect of the projection on points in the object. Definitions A projection on a vector space V is a linear operator P : V \to V such that P^2 = P. When V has an inner product and is complete (i.e. when V is a Hilbert space) the concept of orthogonality can be used. A projection P on a Hilbert space V is called an orthogonal projection if it satisfies \langle P \mathbf x, \mathbf y \rangle = \langle \mathbf x, P \mathbf y \rangle for all \mathbf x, \mathbf y \in V. A projection on a Hilbe ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Infinitesimal Rotation
In linear algebra, a rotation matrix is a transformation matrix that is used to perform a rotation in Euclidean space. For example, using the convention below, the matrix :R = \begin \cos \theta & -\sin \theta \\ \sin \theta & \cos \theta \end rotates points in the plane counterclockwise through an angle with respect to the positive axis about the origin of a two-dimensional Cartesian coordinate system. To perform the rotation on a plane point with standard coordinates , it should be written as a column vector, and multiplied by the matrix : : R\mathbf = \begin \cos \theta & -\sin \theta \\ \sin \theta & \cos \theta \end \begin x \\ y \end = \begin x\cos\theta-y\sin\theta \\ x\sin\theta+y\cos\theta \end. If and are the endpoint coordinates of a vector, where is cosine and is sine, then the above equations become the trigonometric summation angle formulae. Indeed, a rotation matrix can be seen as the trigonometric summation angle formulae in matrix form. O ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Angular Velocity
In physics, angular velocity or rotational velocity ( or ), also known as angular frequency vector,(UP1) is a pseudovector representation of how fast the angular position or orientation of an object changes with time (i.e. how quickly an object rotates or revolves relative to a point or axis). The magnitude of the pseudovector represents the ''angular speed'', the rate at which the object rotates or revolves, and its direction is normal to the instantaneous plane of rotation or angular displacement. The orientation of angular velocity is conventionally specified by the right-hand rule.(EM1) There are two types of angular velocity. * Orbital angular velocity refers to how fast a point object revolves about a fixed origin, i.e. the time rate of change of its angular position relative to the origin. * Spin angular velocity refers to how fast a rigid body rotates with respect to its center of rotation and is independent of the choice of origin, in contrast to orbital angular v ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
