Читать книгу Foundations of Space Dynamics - Ashish Tewari - Страница 40

1 1 A reference frame, , consisting of three mutually perpendicular axes, , and , is termed a right‐handed frame if it satisfies the right‐hand rule of vector multiplication of the first two axes in the proper sequence, to produce the third axis:

2 2 This caveat must be added because, as postulated by Einstein in 1905, Newton's laws cease to apply to objects travelling close to the speed of light, which is the same in all reference frames.

3 3 Rotation of the frame, , refers to the rotation of its axes. Since , and are unit vectors, they cannot change in magnitude. Hence the time derivative of each axis is just due to its rotation by an angular velocity, . This angular velocity is common to all axes because they must always be mutually perpendicular and right handed. Therefore, we have