Firdaus E. Udwadia, Aaron Schutte
Abstract
This note provides a direct method for obtaining Lagrange’s equations describing the rotational motion of a rigid body in terms of quaternions by using the so-called fundamental equation of constrained motion.
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This note provides a direct method for obtaining Lagrange’s equations describing the rotational motion of a rigid body in terms of quaternions by using the so-called fundamental equation of constrained motion.
Key concepts: Quaternion, Rigid body, Rigid body dynamics, Dynamics (music), Rotation around a fixed axis, Motion (physics), Classical mechanics, Rotational dynamics