N-body problem of first-order differential equations, with initial conditions as initial position coordinates and initial momentum values. Symmetries in the -body problem yield global integrals of motion that simplify the problem. Translational symmetry of the problem results in the center of mass moving with constant velocity, so that , where is the linear velocity and is the initial position. The constants of motion and represent six integrals of the motion. Rotational symmetry results in the total angular momentum being constant where × is the cross product. The three components of the total angular momentum yield three more constants of the motion. The
Angular velocity of bases. For example, changing to the mobile frame: where formula_46 are unit vectors for the frame fixed in the moving body. This example has been made using the Z-X-Z convention for Euler angles. The angular velocity vector formula_47 defined above may be equivalently expressed as an angular velocity tensor, the matrix (or linear mapping) "W" = "W"("t") defined by: This is an infinitesimal rotation matrix. The linear mapping "W" acts as formula_49: A vector formula_51 undergoing uniform circular motion around an axis satisfies: Given the orientation matrix "A"("t") of a frame, whose columns are the moving orthonormal coordinate vectors