Unformatted text preview: f 2 = ˆ e 2 (6) ˆ f 3 = sin( θ ) . ˆ e 1 + cos( θ ) . ˆ e 3 (7) or, expressed in matrix form: ˆ f 1 ˆ f 2 ˆ f 3 = R 2 ( θ ) . ˆ e 1 ˆ e 2 ˆ e 3 where R 2 ( θ ) = cos θsin θ 1 sin θ cos θ (8) Rotation about the 3 nd axis: The rotation leaving the 3 rd axis Fxed is deFned by the relations: ˆ f 1 = cos( θ ) . ˆ e 1 + sin( θ ) . ˆ e 2 (9) ˆ f 2 =sin( θ ) . ˆ e 1 + cos( θ ) . ˆ e 2 (10) ˆ f 3 = ˆ e 3 (11) or, expressed in matrix form: ˆ f 1 ˆ f 2 ˆ f 3 = R 3 ( θ ) . ˆ e 1 ˆ e 2 ˆ e 3 where R 3 ( θ ) = cos θ sin θsin θ cos θ 1 (12) 1...
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This note was uploaded on 03/13/2010 for the course MAE 19100 taught by Professor Villac during the Winter '10 term at UC Irvine.
 Winter '10
 Villac

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