3D Rigid Body Dynamics

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3D Rigid Body Dynamics
1D translation dynamics
3D translation dynamics
1D rotational dynamics
3D rotational dynamics
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3D Rigid Body Dynamics
These products of inertia are constant because
the moving co-ordinate system is attached to the
rigid body
for a rectangular mass with the co-ordinate
system aligned with the rectangle directions
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3D Rigid Body Dynamics
To calculate the rotation matrix use