· b T Ii j Jij Kk II JJ K KJK II J JI J KK

15
x y θ A B x A y A A x ¨ A y θ © Reuven Segev, 2002

Transcript of  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

Page 1:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

x

y

θAB

xA yA

A

x¨ A

© Reuven Segev, 2002

Page 2:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

rB

000 )Z,Y,X(

)z,y,x(

I0

J0

K0

i

j

k

k,j,iz,y,xI J K0 0 0, ,

X Y Z0 0 0, ,

R I J K0 0 0 0 0 0 0= + +X Y Z

r r R= ( )0

© Reuven Segev, 2002

Page 3:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

r r R= ( , )0 t

ρ

m dVV

= ∫ ρ

r r1 2( ) , ( )t tt

| ( ) ( ) | | ( ) ( ) |r r r r1 2 1 2 0t td

dtt t− = − =constant ,

t

0 2 1 2 1= − ⋅ −( ) ( )v v r r

( , , )X Y Z0 0 0

tAt

Ar0XAr

ArA

© Reuven Segev, 2002

0Y0Z

Page 4:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

Z,Y,XI J K( ), ( ), ( )t t t

Z,Y,X

B(X0,Y0, Z0)

I0 J0

K0

ij

k

ΑI(t)

J(t)

K(t)

rA

X0

Y0

Z0

x

y

z

R0

R

(x,y,z)

r

B Bt X

YZ

0R BR R= ( )tBtAr r= ( )tBi j k, ,

z,y,x

Ri j k, ,I J K( ), ( ), ( )t t t

BZ,Y,X

X Y Z0 0 0, ,RI J K( ), ( ), ( )t t t

R I J K= + +X Y Z0 0 0

r r R r I J K= + = + + +A A X Y Z0 0 0

r I J KA , , ,X Y Z0 0 0, ,

ArI J K, ,

© Reuven Segev, 2002

Page 5:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

ArAI J K, ,

I J K, ,

X Y Z0 0 0, ,z,y,xz,y,x

X Y Z0 0 0, ,z,y,x

Z,Y,X

I J K, ,

AI J K, ,

xXAx IyZAyK

A

A

A

xX

yX

xZ

= ⋅ =

= ⋅ =

= ⋅ =

I i I i

I j I j

K i K i

cos( , )

cos( , )

cos( , )

M M M

cos( , )I jIj

[ ]A =

A A A

A A A

A A A

xX xY xZ

yX yY yZ

zX zY zZ

I i j k

J i j k

K i j k

= + +

= + +

= + +

A A A

A A A

A A A

xX yX zX

xY yY zY

xZ yZ zZ.

IJK

© Reuven Segev, 2002

Page 6:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

]A[

I0 J0

K0

ij

k

X0

Y0

Z0

x

y

z

X

Y

Z I

J

KA

B

A

B

I k i j k

J j i j k

K i i j k

= − = + +

= = + +

= = + +

A A A

A A A

A A A

xX yX zX

xY yY zY

xZ yZ zZ.

A A AxX yX zX= = = −0 0 1, ,

[ ]A =

=

A A A

A A A

A A A

xX xY xZ

yX yY yZ

zX zY zZ

0 0 1

0 1 0

1 0 0

ψk'K', J', Iθ'I"K", J", I

φ"KK, J, I

© Reuven Segev, 2002

Page 7:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

I0 = i

J0 = j

K0 = k

θ'I ')X(

ψ kz

i

j

I'

J '

K '= k

ψ

ψ

ψ

i

j

J '

K '= k

ψ

ψ

K"J"

θ

I"= I'

θ

θ

φ"K"Z

i

j

J '

K '= k

J"

I"= I'

θK = K"

I

J

φ

φ

φ

φ, θ, ψψθφ

© Reuven Segev, 2002

Page 8:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

i I j J, ' , , 'J J K k K K' , " , ' , "= ='I

I I I J J" ' , , " ,=K K= "

i

j

J '

K '= k

J"

I"= I'

θ

K = K"

I

J

φ

φ

ψ

θ

i

j

k

I

J

K = K"

ψ

θ

φ I'

© Reuven Segev, 2002

Page 9:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

I i j

J i j

K k

I I

J J K

K J K

I I J

J I J

K K

' cos sin

' sin cos

'

" '

" cos ' sin '

" sin ' cos '

cos " sin "

sin " cos "

, "

= +

= − +

=

=

= +

= − +

= +

= − +

=

ψ ψ

ψ ψ

θ θ

θ θ

φ φ

φ φ

y,x'Z', Y

I i j

J i j k

K i j k

I i j i j k

J i j i j k

" cos sin

" cos ( sin cos ) sin

" sin ( sin cos ) cos

cos (cos sin ) sin [cos ( sin cos ) sin ]

sin (cos sin ) cos [cos ( sin cos ) sin ]

= +

= − + +

= − − + +

= + + − + +

= − + + − + +

ψ ψ

θ ψ ψ θ

θ ψ ψ θ

φ ψ ψ φ θ ψ ψ θ

φ ψ ψ φ θ ψ ψ θ

.. sin ( sin cos ) cosK i j k= − − + +θ ψ ψ θ

I i j k

J i j k

K i j k

= − + + +

= − − + − + +

= − +

(cos cos sin cos sin ) (cos sin sin cos cos ) sin sin

( sin cos cos cos sin ) ( sin sin cos cos cos ) cos sin

. sin sin sin cos cos

φ ψ φ θ ψ φ ψ φ θ ψ φ θ

φ ψ φ θ ψ φ ψ φ θ ψ φ θ

θ ψ θ ψ θ

I i j k

J i j k

K i j k

= + +

= + +

= + +

A A A

A A A

A A A

xX yX zX

xY yY zY

xZ yZ zZ,

© Reuven Segev, 2002

Page 10:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

[ ]A =

A A A

A A A

A A A

xX xY xZ

yX yY yZ

zX zY zZ

[ ]

cos cos sin cos sin sin cos cos cos sin sin sin

cos sin sin cos cos sin sin cos cos cos sin cos

sin sin cos sin cos

A =

− − −

+ − + −

φ ψ φ θ ψ φ ψ φ θ ψ θ ψ

φ ψ φ θ ψ φ ψ φ θ ψ θ ψ

φ θ φ θ θ

x

y

z

x

y

z

x

y

z

90˚y 90˚z

x

y

z

90˚z

x

y

z

x

y

z

90˚y

© Reuven Segev, 2002

Page 11:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

X Y Z0 0 0, ,

r r R= +A

R I J K= + +X Y Z0 0 0I J K, ,A

R i j k i j k i j k

R i j k

= + + + + + + + +

= + + + + + + + +

X Y Z

X Y Z X Y Z X Y Z

xX yX zX xY yY zY xZ yZ zZ

xX xY xZ yX yY yZ zX zY zZ

0 0 0

0 0 0 0 0 0 0 0 0

( ) ( ) ( ) ,

, ( ) ( ) ( )

A A A A A A A A A

A A A A A A A A A

R X Y Z

R X Y Z

R X Y Z

x xX xY xZ

y yX yY yZ

z zX zY zZ

= + +

= + +

= + +

A A A

A A A

A A A

0 0 0

0 0 0

0 0 0.

R

R

R

X

Y

Z

x

y

z

xX xY xZ

yX yY yZ

zX zY zZ

=

A A A

A A A

A A A

0

0

0

}0R]{A} = [R{

r

x

y

z

x

y

z

X

Y

Z

A

A

A

xX xY xZ

yX yY yZ

zX zY zZ

=

+

A A A

A A A

A A A

0

0

0

{ } { } [ ]{ }r r RA= + A 0

A

© Reuven Segev, 2002

Page 12:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

c d e= = =0 5 0 2 0 1. , . . m m , m

A

r i j kA = + +0 5. m

B

ij

k

x

y

z

X

Y

Z I

J

K

A

B

I0 J0

K0

X0

Y0

Z0

AB

c

d

e

}0R{]A[}Ar{

{ }

.

.

.

R0

0 5

0 2

0 1

=

x

y

z

=

+

=

0 5

1

1

0 0 1

0 1 0

1 0 0

0 5

0 2

0 1

0 6

1 2

0 5

. .

.

.

.

.

.

r i j k= + +0 6 1 2 0 5. . . m

© Reuven Segev, 2002

Page 13:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

]A[K, J, I

I I J J K K

I J J K K I

⋅ = ⋅ = ⋅ =

⋅ = ⋅ = ⋅ =

1 1 1

0 0 0

, ,

. , ,

]A[

A A A

A A A

A A A

A A A A A A

A A A A A A

A A A A A A

xX yX zX

xY yY zY

xZ yZ zZ

xX xY yX yY zX zY

xY xZ yY yZ zY zZ

xZ xX yZ yX zZ zX

2 2 2

2 2 2

2 2 2

1

1

1

0

0

0

+ + =

+ + =

+ + =

+ + =

+ + =

+ + =.

[ ] [ ] [ ]A AT = 1

[ ]A T]A[ ]A[[1]

J K I× =J K I× = −I

© Reuven Segev, 2002

Page 14:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

I J K⋅ × =( ) 1

I J K⋅ × = −( ) 1

u v w⋅ ×( )

u v w⋅ × =( )

u u u

v v v

w w w

x y z

x y z

x y z

I J K⋅ × =

=

( )

.

A A A

A A A

A A A

A A A

A A A

A A A

xX yX zX

xY yY zY

xZ yZ zZ

xX xY xZ

yX yY yZ

zX zY zZ

I J K⋅ × =( ) A

A = 1 A = −1

y

© Reuven Segev, 2002

Page 15:  · b T Ii j Jij Kk II JJ K KJK II J JI J KK

]A[AuA

]A[u [ ]{ˆ} {ˆ} {ˆ}A u u u= = 1u]A[

ArK, J, IAr

K, J, IAr

nn n nx y z

2 2 2 1+ + =IJI

I J⋅ = 0JIJ

K

© Reuven Segev, 2002