Читать книгу Kinematics of General Spatial Mechanical Systems - M. Kemal Ozgoren - Страница 25

This example is about the expansion of the following triple vector product.

(1.70)

In a selected reference frame , the matrix version of Eq. (1.70) can be written as

(1.71)

In Eq. (1.71), all the matrices are expressed in the same frame . Therefore, the frame indicating superscript (a) is concealed for the sake of brevity. By expanding the product according to Eq. (1.61)Eq. 1.71 can be written again as follows:

(1.72)

The corresponding vector equation written below turns out to be the required expansion of the triple vector product.

(1.73)