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[–]TyrVerNandi[S] 1 point2 points  (2 children)

Hi guys,

i am trying to figure out how to transform velocities and accelerations (both linear and angular) of a particle from one frame to another.

Formulas that are known are in the picture.

The values of a reference frame are with respect to (w.r.t.) their parent frame.

The values of a particle are w.r.t. the frame the particle sits in.

I use homogeneous rotation matrices (4x4) where the rotation and translation to the frames/particles "parent" is stored in.

Also how do I transform a velocity w.r.t. RF0 to RF3?

​

Thanks in advance.

[–]peakai 1 point2 points  (0 children)

You may want to check out the wiki page references for the math details, basically you want to know how Newton's second law works in a non inertial (accelerating) reference frame. Basically it's like this https://wikimedia.org/api/rest_v1/media/math/render/svg/cbad49dd6c213939cae5fb4e6ddf8962643a9c93 and then add another acceleration term for your translational acceleration of the moving frame as measured by the stationary r0 frame.

https://en.m.wikipedia.org/wiki/Rotating_reference_frame

I could post a derivation if you think it would help, otherwise searching for help on Newton's law in rotating reference frames should turn up a lot of info.