Skew-Symmetric Matrices and the Euler Equations of Rotational Motion for RigidSystems

摘要

A rigid system of n (n greater than or equal to 1) particles in three-dimensionalspace is considered. A Cartesian coordinate system which is fixed in the system is introduced. The equations of rotational motion for the rigid system around a fixed point are investigated. Euler equations of motion are derived by use of the exponential function with skew-symmetric matrix argument.