Rigid body dynamics r and velocities v. Select a reference point R and compute the relative position and velocity vectors, The total linear and angular momentum vectors relative to the reference point R are and If R is chosen as the center of mass these equations simplify to To specialize these formulas to a rigid body, assume the particles are rigidly connected to each other so P, i=1...,n are located by the coordinates r and velocities v. Select a reference point R and compute the relative position and velocity vectors, where ω is the angular velocity of the system. The linear momentum and
Criticism of the theory of relativity There are still some critics of relativity today, but their opinions are not shared by the majority in the scientific community. Around the end of the 19th century, the view was widespread that all forces in nature are of electromagnetic origin (the "electromagnetic worldview"), especially in the works of Joseph Larmor (1897) and Wilhelm Wien (1900). This was apparently confirmed by the experiments of Walter Kaufmann (1901–1903), who measured an increase of the mass of a body with velocity which was consistent with the hypothesis that the mass was generated by its electromagnetic field. Max Abraham (1902) subsequently sketched a