Advanced Engineering

Systems in Motion:
Dynamics of Three
Dimensional (3D) Motion
Dr. Wayne Whiteman
Director of the Office of Student Services
and Senior Academic Professional
School of Mechanical Engineering

This course is an advanced study of bodies in motion as applied to

engineering systems and structures.

School of Mechanical Engineering

Advanced Engineering Systems in Motion: 3D Dynamics Overview

Kinematics
Angular velocity and angular acceleration
Velocities and accelerations in moving reference frames
Eulerian angles
Rotation matrices
Kinetics
Angular momentum in 3D
Inertial properties of 3D bodies
3D rotational motion of rigid bodies
3D Work-Energy principle
3D Impulse-Momentum principle

Module 7 Learning Outcome

Derive the equation for velocity expressed in

moving frames of reference.

Hang glider

Velocities expressed in moving

frames of reference

Velocity of hang glider in Frame B:

B
vP / B rOP

Velocity of hang glider in Frame F:

F
vP / F rOP

Y
Frame F
Earth

z
O

x
Frame B
Car

Velocity of car in Frame F:

F
vO / F rOO

Hang glider

Velocities expressed in moving

frames of reference

rOP rOO rOP

Differentiate in Frame F:

y
O

Y
Frame F
Earth

z
O

x
Frame B
Car

Hang glider

Velocities expressed in moving

frames of reference

F
v v r
P/ F

O / F

OP

Y
Frame F
Earth

z
O

x
Frame B
Car

Z
Derivative Formula

A A B / F A
Let

A rOP
6

Hang glider

Velocities expressed in moving

frames of reference

F
v v r
P/ F

O / F

OP

rOP vP / B B / F rOP

Y
Frame F
Earth

z
O

x
Frame B
Car