Rigid body dynamics The result is a set of m equations of motion that define the dynamics of the rigid body system. If the generalized forces Q are derivable from a potential energy V(q...,q), then these equations of motion take the form In this case, introduce the Lagrangian, L=T-V, so these equations of motion become These are known as Lagrange's equations of motion. The linear and angular momentum of a rigid system of particles is formulated by measuring the position and velocity of the particles relative to the center of mass. Let the system of particles P, i=1...,n be located at the coordinates
Linear density unit of mass, formula_9, is equal to the product of its linear mass density, formula_10, and the infinitesimal unit of length, formula_11: The linear mass density can then be understood as the derivative of the mass function with respect to the one dimension of the rod (the position along its length formula_13) The SI unit of linear mass density is the kilogram per meter (kg/m). Linear density of fibers and yarns can be measured by many methods. The simplest one is to measure a length of material and weigh it. However, this requires a large sample and masks the variability