RotationRotation or rotational motion is the circular movement of an object around a central line, known as axis of rotation. A plane figure can rotate in either a clockwise or counterclockwise sense around a perpendicular axis intersecting anywhere inside or outside the figure at a center of rotation. A solid figure has an infinite number of possible axes and angles of rotation, including chaotic rotation (between arbitrary orientations), in contrast to rotation around a axis.
Rotation around a fixed axisRotation around a fixed axis or axial rotation is a special case of rotational motion around a axis of rotation fixed, stationary, or static in three-dimensional space. This type of motion excludes the possibility of the instantaneous axis of rotation changing its orientation and cannot describe such phenomena as wobbling or precession. According to Euler's rotation theorem, simultaneous rotation along a number of stationary axes at the same time is impossible; if two rotations are forced at the same time, a new axis of rotation will result.
Quaternions and spatial rotationUnit quaternions, known as versors, provide a convenient mathematical notation for representing spatial orientations and rotations of elements in three dimensional space. Specifically, they encode information about an axis-angle rotation about an arbitrary axis. Rotation and orientation quaternions have applications in computer graphics, computer vision, robotics, navigation, molecular dynamics, flight dynamics, orbital mechanics of satellites, and crystallographic texture analysis.
Moment of inertiaThe moment of inertia, otherwise known as the mass moment of inertia, angular mass, second moment of mass, or most accurately, rotational inertia, of a rigid body is a quantity that determines the torque needed for a desired angular acceleration about a rotational axis, akin to how mass determines the force needed for a desired acceleration. It depends on the body's mass distribution and the axis chosen, with larger moments requiring more torque to change the body's rate of rotation.
Angular momentumIn physics, angular momentum (sometimes called moment of momentum or rotational momentum) is the rotational analog of linear momentum. It is an important physical quantity because it is a conserved quantity – the total angular momentum of a closed system remains constant. Angular momentum has both a direction and a magnitude, and both are conserved. Bicycles and motorcycles, flying discs, rifled bullets, and gyroscopes owe their useful properties to conservation of angular momentum.
Rigid body dynamicsIn the physical science of dynamics, rigid-body dynamics studies the movement of systems of interconnected bodies under the action of external forces. The assumption that the bodies are rigid (i.e. they do not deform under the action of applied forces) simplifies analysis, by reducing the parameters that describe the configuration of the system to the translation and rotation of reference frames attached to each body. This excludes bodies that display fluid, highly elastic, and plastic behavior.
Angular accelerationIn physics, angular acceleration (symbol α, alpha) is the time rate of change of angular velocity. Following the two types of angular velocity, spin angular velocity and orbital angular velocity, the respective types of angular acceleration are: spin angular acceleration, involving a rigid body about an axis of rotation intersecting the body's centroid; and orbital angular acceleration, involving a point particle and an external axis. Angular acceleration has physical dimensions of angle per time squared, measured in SI units of radians per second squared (rads-2).
Rotation formalisms in three dimensionsIn geometry, various formalisms exist to express a rotation in three dimensions as a mathematical transformation. In physics, this concept is applied to classical mechanics where rotational (or angular) kinematics is the science of quantitative description of a purely rotational motion. The orientation of an object at a given instant is described with the same tools, as it is defined as an imaginary rotation from a reference placement in space, rather than an actually observed rotation from a previous placement in space.
Relativistic angular momentumIn physics, relativistic angular momentum refers to the mathematical formalisms and physical concepts that define angular momentum in special relativity (SR) and general relativity (GR). The relativistic quantity is subtly different from the three-dimensional quantity in classical mechanics. Angular momentum is an important dynamical quantity derived from position and momentum. It is a measure of an object's rotational motion and resistance to changes in its rotation.
Axis–angle representationIn mathematics, the axis–angle representation parameterizes a rotation in a three-dimensional Euclidean space by two quantities: a unit vector e indicating the direction (geometry) of an axis of rotation, and an angle of rotation θ describing the magnitude and sense (e.g., clockwise) of the rotation about the axis. Only two numbers, not three, are needed to define the direction of a unit vector e rooted at the origin because the magnitude of e is constrained.
Angular velocityIn physics, angular velocity (symbol ω, sometimes Ω), also known as angular frequency vector, is a pseudovector representation of how the angular position or orientation of an object changes with time, i.e. how quickly an object rotates (spins or revolves) around an axis of rotation and how fast the axis itself changes direction. The magnitude of the pseudovector, , represents the angular speed (or angular frequency), the rate at which the object rotates (spins or revolves).
Plane of rotationIn geometry, a plane of rotation is an abstract object used to describe or visualize rotations in space. The main use for planes of rotation is in describing more complex rotations in four-dimensional space and higher dimensions, where they can be used to break down the rotations into simpler parts. This can be done using geometric algebra, with the planes of rotations associated with simple bivectors in the algebra.
Rotation (mathematics)Rotation in mathematics is a concept originating in geometry. Any rotation is a motion of a certain space that preserves at least one point. It can describe, for example, the motion of a rigid body around a fixed point. Rotation can have a sign (as in the sign of an angle): a clockwise rotation is a negative magnitude so a counterclockwise turn has a positive magnitude. A rotation is different from other types of motions: translations, which have no fixed points, and (hyperplane) reflections, each of them having an entire (n − 1)-dimensional flat of fixed points in a n-dimensional space.
Screw axisA screw axis (helical axis or twist axis) is a line that is simultaneously the axis of rotation and the line along which translation of a body occurs. Chasles' theorem shows that each Euclidean displacement in three-dimensional space has a screw axis, and the displacement can be decomposed into a rotation about and a slide along this screw axis. Plücker coordinates are used to locate a screw axis in space, and consist of a pair of three-dimensional vectors. The first vector identifies the direction of the axis, and the second locates its position.
VelocityVelocity is the speed and the direction of motion of an object. Velocity is a fundamental concept in kinematics, the branch of classical mechanics that describes the motion of bodies. Velocity is a physical vector quantity: both magnitude and direction are needed to define it. The scalar absolute value (magnitude) of velocity is called , being a coherent derived unit whose quantity is measured in the SI (metric system) as metres per second (m/s or m⋅s−1). For example, "5 metres per second" is a scalar, whereas "5 metres per second east" is a vector.
Poinsot's ellipsoidIn classical mechanics, Poinsot's construction (after Louis Poinsot) is a geometrical method for visualizing the torque-free motion of a rotating rigid body, that is, the motion of a rigid body on which no external forces are acting. This motion has four constants: the kinetic energy of the body and the three components of the angular momentum, expressed with respect to an inertial laboratory frame. The angular velocity vector of the rigid rotor is not constant, but satisfies Euler's equations.
AccelerationIn mechanics, acceleration is the rate of change of the velocity of an object with respect to time. Accelerations are vector quantities (in that they have magnitude and direction). The orientation of an object's acceleration is given by the orientation of the net force acting on that object. The magnitude of an object's acceleration, as described by Newton's Second Law, is the combined effect of two causes: the net balance of all external forces acting onto that object — magnitude is directly proportional to this net resulting force; that object's mass, depending on the materials out of which it is made — magnitude is inversely proportional to the object's mass.
InertiaInertia is the idea that an object will continue its current motion until some force causes its speed or direction to change. The term is properly understood as shorthand for "the principle of inertia" as described by Newton in his first law of motion. After some other definitions, Newton states in his first law of motion: LAW I. Every object perseveres in its state of rest, or of uniform motion in a right line, unless it is compelled to change that state by forces impressed thereon.
TensorIn mathematics, a tensor is an algebraic object that describes a multilinear relationship between sets of algebraic objects related to a vector space. Tensors may map between different objects such as vectors, scalars, and even other tensors. There are many types of tensors, including scalars and vectors (which are the simplest tensors), dual vectors, multilinear maps between vector spaces, and even some operations such as the dot product.
Specific angular momentumIn celestial mechanics, the specific relative angular momentum (often denoted or ) of a body is the angular momentum of that body divided by its mass. In the case of two orbiting bodies it is the vector product of their relative position and relative linear momentum, divided by the mass of the body in question. Specific relative angular momentum plays a pivotal role in the analysis of the two-body problem, as it remains constant for a given orbit under ideal conditions. "Specific" in this context indicates angular momentum per unit mass.
