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110 Robot Dynamics
Figure 3.2.2: Coriolis force.
(3.2.5)
The rotational kinetic energy of the mass in Figure 3.2.1 is given by
(3.2.6)
where the moment of inertia is
(3.2.7)
with ρ(r) the mass distribution at radius r in a volume. In the simple case
shown where m is a point mass, this becomes
Copyright © 2004 by Marcel Dekker, Inc.
