We have a body V1, which is in contact over body V2 over a flat (i.e. planar) surface S. (The planar approximation can be considered a good one). Body V1 is moving, V2 is stationary.
A normal force F exists between the bodies at surface S, acting in point P. This force...
I have the following problem:
A rigid body, to which an axis system xyz is attached, has an orientation defined by Euler angles phi, theta and psi with respect to an intertial frame XYZ.
The Euler angles are defined as explained on wikipedia and can be thought of as a rotation...