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Eulerian Angles PDF

This document discusses 3D rotational motion of rigid bodies using Eulerian angles. It describes how three successive rotations - precession, nutation, and spin - can be used to define the orientation of a rigid body relative to a fixed frame of reference. The first rotation is about the Z-axis by an angle φ (precession). The second is about the new X-axis by an angle θ (nutation). The third rotation is about the resulting Z-axis by an angle ψ (spin). These three Eulerian angles uniquely define the orientation of a rigid body in three-dimensional space.

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Sagnik Chakraborty
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80 views9 pages

Eulerian Angles PDF

This document discusses 3D rotational motion of rigid bodies using Eulerian angles. It describes how three successive rotations - precession, nutation, and spin - can be used to define the orientation of a rigid body relative to a fixed frame of reference. The first rotation is about the Z-axis by an angle φ (precession). The second is about the new X-axis by an angle θ (nutation). The third rotation is about the resulting Z-axis by an angle ψ (spin). These three Eulerian angles uniquely define the orientation of a rigid body in three-dimensional space.

Uploaded by

Sagnik Chakraborty
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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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


Module 13 Learning Outcome
 Describe Eulerian Angles for 3D Rotational
Motion.

2
3
Describing the Orientation of a Rigid Body
Motion consists of a translation and a pure
rotation

Position 2
Position 1

Let’s now look at a description of the unique


rotation of a body using Eulerian Angles

4
Eulerian Angles
We will start with a space-fixed coordinate system and then use 3
successive rotations to get to a body-fixed coordinate system
1st Eulerian Angle Z n̂13

 Frame F1
n̂12

Y
Frame F (space-fixed)
X 
n̂11
Rotation about the Z axis by the angle 
“Precession”
5
2nd Eulerian Angle
n̂23 n̂13

Frame F2 Frame F1
n̂12

 n̂22
n̂11 
n̂21

Rotation about the n̂12 axis by the angle 


“Nutation”

6
3rd Eulerian Angle
n̂23
k̂
Frame B (body-fixed)

ĵ

n̂22
Frame F2
n̂21 
iˆ
Rotation about the n̂23 axis by the angle 
“Spin”

7
Z n̂13 n̂23 n̂13 n̂23 Frame B
k̂ (body-fixed)
 Frame F1  
n̂12 Frame F1 ĵ
 Frame F2 n̂12 
Y n̂22
Frame F  n̂22 Frame F2
 (space-fixed) 3rd Eulerian Angle
n̂11   ˆ
X 2nd Eulerian Angle
1 st Eulerian Angle n̂21 i Spin
n̂11 n̂21 Nutation
Precession
Frame F (space-fixed): Iˆ Ĵ K̂
Frame F1 : n̂11 n̂12 n̂13
Frame F2 : n̂21 n̂22 n̂23
Frame B (body-fixed): iˆ ĵ k̂
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