Matrix Study of the Equation of Solid Rigid Motions

Abstract

In this article, we described the equations of motion of a rigid solid by a matrix formulation. The matrices contained in our movement description are homogeneous to the same unit. Inertial characteristics are met in a 4x4 positive definite symmetric matrix called "tensor generalized Poinsot." This matrix consists of 3x3 positive definite symmetric matrix called "inertia tensor Poinsot", the coordinates of the center of mass multiplied by the total body mass and the total mass of the rigid body. The equations of motion are formulated as a gender skew 4x4 matrices. They summarize the "principle of fundamental dynamics". The Poinsot generalized tensor appears linearly in this equality as required by the linear dependence of the equations of motion with the ten characteristics inertia of the rigid solid.