Kinematics of Particles


Kinematics is the description of the motion of material bodies without referring to their inertia or the forces that caused their motion. In particular, in kinematics we are interested in defining the velocity, acceleration, angular velocity, and angular acceleration of a given body. To achieve this objective, this chapter introduces the important concept of inertial and non-inertial frames of reference and uses them to illustrate how to fully describe the kinematics of particles.

1.1Inertial Frames
1.2Rotating Frames
1.3Rotation Matrices
1.4Velocity of a Particle in a Three-dimensional Space
1.5Acceleration of a Particle in a Three-dimensional Space

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