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.
Rotating reference frameA rotating frame of reference is a special case of a non-inertial reference frame that is rotating relative to an inertial reference frame. An everyday example of a rotating reference frame is the surface of the Earth. (This article considers only frames rotating about a fixed axis. For more general rotations, see Euler angles.) Fictitious force All non-inertial reference frames exhibit fictitious forces; rotating reference frames are characterized by three: the centrifugal force, the Coriolis force, and, for non-uniformly rotating reference frames, the Euler force.
TorqueIn physics and mechanics, torque is the rotational analogue of linear force. It is also referred to as the moment of force (also abbreviated to moment). It describes the rate of change of angular momentum that would be imparted to an isolated body. The concept originated with the studies by Archimedes of the usage of levers, which is reflected in his famous quote: "Give me a lever and a place to stand and I will move the Earth". Just as a linear force is a push or a pull applied to a body, a torque can be thought of as a twist applied to an object with respect to a chosen point.
Rotating spheresIsaac Newton's rotating spheres argument attempts to demonstrate that true rotational motion can be defined by observing the tension in the string joining two identical spheres. The basis of the argument is that all observers make two observations: the tension in the string joining the bodies (which is the same for all observers) and the rate of rotation of the spheres (which is different for observers with differing rates of rotation). Only for the truly non-rotating observer will the tension in the string be explained using only the observed rate of rotation.
Orientation (geometry)In geometry, the orientation, attitude, bearing, direction, or angular position of an object – such as a line, plane or rigid body – is part of the description of how it is placed in the space it occupies. More specifically, it refers to the imaginary rotation that is needed to move the object from a reference placement to its current placement. A rotation may not be enough to reach the current placement, in which case it may be necessary to add an imaginary translation to change the object's position (or linear position).
Euler's equations (rigid body dynamics)In classical mechanics, Euler's rotation equations are a vectorial quasilinear first-order ordinary differential equation describing the rotation of a rigid body, using a rotating reference frame with angular velocity ω whose axes are fixed to the body. Their general vector form is where M is the applied torques and I is the inertia matrix. The vector is the angular acceleration. Again, note that all quantities are defined in the rotating reference frame.
Improper rotationIn geometry, an improper rotation (also called rotation-reflection, rotoreflection, rotary reflection, or rotoinversion) is an isometry in Euclidean space that is a combination of a rotation about an axis and a reflection in a plane perpendicular to that axis. Reflection and inversion are each special case of improper rotation. Any improper rotation is an affine transformation and, in cases that keep the coordinate origin fixed, a linear transformation.
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.
Moment (mathematics)In mathematics, the moments of a function are certain quantitative measures related to the shape of the function's graph. If the function represents mass density, then the zeroth moment is the total mass, the first moment (normalized by total mass) is the center of mass, and the second moment is the moment of inertia. If the function is a probability distribution, then the first moment is the expected value, the second central moment is the variance, the third standardized moment is the skewness, and the fourth standardized moment is the kurtosis.
Centrifugal forceIn Newtonian mechanics, the centrifugal force is an inertial force (also called a "fictitious" or "pseudo" force) that appears to act on all objects when viewed in a rotating frame of reference. It is directed away from an axis which is parallel to the axis of rotation and passing through the coordinate system's origin. If the axis of rotation passes through the coordinate system's origin, the centrifugal force is directed radially outwards from that axis.
Magnetic momentIn electromagnetism, the magnetic moment is the magnetic strength and orientation of a magnet or other object that produces a magnetic field. Examples of objects that have magnetic moments include loops of electric current (such as electromagnets), permanent magnets, elementary particles (such as electrons), composite particles (such as protons and neutrons), various molecules, and many astronomical objects (such as many planets, some moons, stars, etc).
Rotation matrixIn linear algebra, a rotation matrix is a transformation matrix that is used to perform a rotation in Euclidean space. For example, using the convention below, the matrix rotates points in the xy plane counterclockwise through an angle θ about the origin of a two-dimensional Cartesian coordinate system. To perform the rotation on a plane point with standard coordinates v = (x, y), it should be written as a column vector, and multiplied by the matrix R: If x and y are the endpoint coordinates of a vector, where x is cosine and y is sine, then the above equations become the trigonometric summation angle formulae.
