Chapter 10: Q7MP (page 535)
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Chapter 10: Q7MP (page 535)
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Inwe have written the first row of elements in the inertia matrix. Write the formulas for the other6elements and compare with Section 4.
Prove (9.4) in the following way. Using (9.2) with, show that
. Similarly, show that
and ∇. Let
in that order form a right-handed triad (so that
, etc.) and show that
. Take the divergence of this equation and, using the vector identities (h) and (b) in the table at the end of Chapter 6, show that
. The other parts of (9.4) are proved similar.
In cylindrical coordinates
Verify that (5.5) agrees with a Laplace development, say on the first row (Chapter 3, Section 3). Hints: You will find 6 terms corresponding to the 6 non-zero values of . First let; then j, k can be 2, 3 or 3, 2. These two terms give you times its cofactor. Next letwithandand show that you get times its cofactor. Finally let. Watch all the signs carefully.
In spherical coordinates.
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