Rigid Body Motion

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This very short video may be used to discuss the toll,s required to develop the equation of motion for the Rigid Body Dynamics.

The most general motion of a rigid body is transnational + rotational.

In total 6 generalized coordinates can completely specify the rigid body - 3 for translation and 3 for rotation.

Two coordinate systems, one fixed in space and another fixed in body, are used. The motion of the center of mass takes care of the translational motion. Orientation of the body fixed coordinates with respect to the space fixed coordinates describes the rotational motion. Euler angles are the best choice to describe the orientatios. Infinitesimal rotations follow the definition of vectors.
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