Q.

ψ = 90o ,θ = 10o , φ = 10o . The Aircraft is rotated about the Z E axis 90 , j′ axis 10 o , and about i′′ axis 10 o . The
Transformation matrix will be

1 0 0  cosθ 0 − sin θ  cosψ sinψ 0

   
R1 (Φ ) R2 (θ ) R3 (ψ ) =  0 cosφ sin φ  0 1 0  − sinψ cosψ 0
 0 − sin φ cos φ  sin θ 0 cosθ  0 0 1 


1 0 0  cos10 0 − sin 10  cos 90 sin 90 0 

   
R1 (Φ) R2 (θ ) R3 (ψ ) =  0 cos10 sin 10  0 1 0  − sin 90 cos 90 0 
 0 − sin 10 cos10  sin 10 0 cos10  0 0 1 
  

1 0 0  cos10 0 − sin 10  0 1 0 
   
R1 (Φ ) R2 (θ ) R3 (ψ ) =  0 cos10 sin 10  0 1 0  − 1 0 0 
 0 − sin 10 cos10  sin 10 0 cos10  0 0 1 
   

1 0 0  0 cos10 − sin 10 
  
R1 (Φ ) R2 (θ ) R3 (ψ ) =  0 cos10 sin 10  − 1 0 0 
 0 − sin 10 cos10  0 sin 10 cos10 
  

 0 cos 10 o − sin 10 o
 
=  − cos10 o sin 102 o o
sin 10 cos10  o

 sin 10 o sin 10 o cos 10 o cos 2 10 o 

 

The weight force in the body frame

 0 cos10o − sin10o   0   − sin10o  −1146.1

 o    o  
WB =  − cos10o sin 2 10o sin10 cos10   0  = sin10 cos10  6600 = 1128.67 
o o

 sin10o
 sin10o cos10o cos 2 10o  WE   cos 2 10o  
 6401 


Q.2

Given

10  0 300 

•
  ft  r   ft
VB =  0  2 , ω =  0  , VB =  0 
0 s 0.3 s  0 s
     

then

10   i j k  10   0  10 

•
          ft
aE = VB + ω B × VB =  0  +  0 0 0.3 =  0  + 90  = 90  2
 0  300 0 0   0   0   0  s
Body

         