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The instantaneous rotational kinetic energy of a rotating rigid body is written
 |
(467) |
Making use of Equation (457), and some vector identities (see Section A.9),
the kinetic energy takes the form
 |
(468) |
Hence, it follows from (458) that
 |
(469) |
Making use of Equation (466), we can also
write
 |
(470) |
Here,
is the row vector of the Cartesian components
,
,
, which is, of course, the transpose
(denoted
) of the column vector
.
When written in component form, the above equation yields
 |
(471) |
Richard Fitzpatrick
2011-03-31