|Mar21-13, 12:14 PM||#1|
Transforming reference frames
I am working on some vector frame transformations for describing the motion of an oil pump jack. I am using these transformations in a Mathematica program that animates the motion equations that I calculate, and the animation is not working correctly. This leads me to believe that my transformations might be incorrect.
Here's a picture of the pump jack.
Here's a simple picture of what I'm using for the reference frames. There's an i,j,k frame, and an a, b, and c frames.
The transformations that I'm currently using are
a -> Cos[\[Theta][t]] i + Sin[\[Theta][t]] j,
a -> -Sin[\[Theta][t]] i + Cos[\[Theta][t]] j,
a -> k,
b -> Cos[\[Beta][t]] a + Sin[\[Beta][t]] a,
b -> -Sin[\[Beta][t]] a + Cos[\[Beta][t]] a,
b -> a,
c -> Cos[\[Gamma][t]] b + Sin[\[Gamma][t]] b,
c -> Sin[\[Gamma][t]] b + Cos[\[Gamma][t]] b,
c -> b
Unfortunately the program doesn't like this. Any help you have is appreciated.
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