Читать книгу Kinematics of General Spatial Mechanical Systems - M. Kemal Ozgoren - Страница 13

The main purpose of this chapter is to review the mathematics associated with the vectors and their matrix representations in selected reference frames. This review is expected to be beneficial for the efficient readability of this book. It will also familiarize the reader with the special notation that is used throughout this book. This notation is suitable not only because it can distinguish vectors from their matrix representations, but it can also be used conveniently in both printed texts and handwritten work.

This chapter also explains why and shows how the vectors are treated in this book as mathematical objects that are distinct from the column matrices that represent them in selected reference frames. As the main distinction, the vectors are independent of any reference frame, whereas their matrix representations are necessarily dependent on the selected reference frames. Similarly, a vector equation can be written without indicating any reference frame, whereas the selected reference frame must be indicated for the corresponding matrix equation.