rigid kinematics¶
Module: solid
Category: ic
Type string: "rigid kinematics"
Parameters¶
| Name | Description | Default | Units |
|---|---|---|---|
velocity |
velocity | {0,0,0} | [L/t] |
angular_velocity |
angular_velocity | {0,0,0} | [r/t] |
center_of_rotation |
center_of_rotation | {0,0,0} | [L] |
Description¶
The rigid kinematics initial condition sets the initial velocity of a rigid body from the following equation.
\[
\mathbf{v}_{0}=\mathbf{V}+\mathbf{\omega}\times\left(\mathbf{r}_{0}-\mathbf{c}\right)
\]
Here, \(\mathbf{V}\) is the linear velocity, \(\omega\) is the angular velocity, \(\boldsymbol{r}_{0}\) is the initial position of the rigid body, and \(\mathbf{c}\) is a position vector indicating the center of rotation.