On the Computation of Relative Rotations and Geometric Phases in the Motions of Rigid Bodies

[+] Author and Article Information
O. M. O’Reilly

Department of Mechanical Engineering, University of California, Berkeley, CA 94720-1740

J. Appl. Mech 64(4), 969-974 (Dec 01, 1997) (6 pages) doi:10.1115/1.2789008 History: Received October 24, 1996; Revised March 20, 1997; Online October 25, 2007


In this paper, expressions are established for certain relative rotations which arise in motions of rigid bodies. A comparison of these results with existing relations for geometric phases in the motions of rigid bodies provides alternative expressions of, and computational methods for, the relative rotation. The computational aspects are illustrated using several examples from rigid-body dynamics: namely, the moment-free motion of a rigid body, rolling disks, and sliding disks.

Copyright © 1997 by The American Society of Mechanical Engineers
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