Game Development Reference
In-Depth Information
mass, the tangential acceleration due to the body's angular acceleration, and the cen‐
tripetal acceleration due to the change in direction of the tangential velocity. In equation
form, this looks like:
a R = a cg + a n + a t
Figure 2-13 illustrates what's happening here.
Figure 2-13. Relative acceleration
You can rewrite the equation for the resultant acceleration in the following form:
a R = a cg + ( ω × ( ω × r )) + ( α × r )
As you can see, using these principles of relative velocity and acceleration allows you to
calculate the resultant kinematic properties of any point on a rigid body at any given
time by determining what the body's center of mass is doing along with how the body
is rotating.
 
Search Nedrilad ::




Custom Search