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
Linear elasticity fourth-order stiffness tensor, formula_8 is the body force per unit volume, formula_9 is the mass density, formula_10 represents the nabla operator, formula_11 represents a transpose, formula_12 represents the second derivative with respect to time, and formula_13 is the inner product of two second-order tensors (summation over repeated indices is implied). Expressed in terms of components with respect to a rectangular Cartesian coordinate system, the governing equations of linear elasticity are: An elastostatic boundary value problem for an isotropic-homogeneous media is a system of 15 independent equations and equal number of unknowns (3 equilibrium equations, 6 strain-displacement equations, and 6 constitutive