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where u=(M|,"M2,M3)T, v=(i>1,t>2,i>3)T, and w=(w„>v2,w3)T. Each of these elements is the cosine of the angle between a body unit vector and a reference axis; u„ for where u=(M|,"M2,M3)T, v=(i>1,t>2,i>3)T, and w=(w„>v2,w3)T. Each of these elements is the cosine of the angle between a body unit vector and a reference axis; u„ for

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