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
Constant linear velocity run about 2.5 times as fast when recording at the inner rim of the disc as on the outer rim. Some high-speed recorders use the zoned CLV method (ZCLV), which divides the disc into stepped zones, each of which has its own constant linear velocity. At higher speeds, ZCLV offers a compromise between CAV, which enables faster seek times, and CLV, which enables greater storage capacity. A ZCLV recorder rated at "52X", for example, would write at 20X on the innermost zone and then progressively step up to 52X at the outer rim. Constant Angular Acceleration (CAA) is a variant