This general theory of rigid body rotation describes a method for constructing the matrix transforms that describe

the orientation of a rigid body after three rigid body rotations about three coordinate axes in which the rotational sequence occurs about the 1, 2 and 3-axes. Only one rotational scheme of six possible sequences is presented. The new method describes a vector transform for rotation about a 1-axis () followed successively by 2 () and 3-axis () rotations. The derivation of a sequence serves as a guide for derivations of transforms for five other rotation sequences. Versatility of the derivation method is demonstrated by constructing and vector transforms.

RIGID BODY ROTATIONS Joseph Stanovsky PhD

2012 by J.S. INTRODUCTION A machine or structure of any shape can be represented as a rigid body. There are no dimensional or mass restrictions to a rigid body except one, and that is that neither mass nor shape changes while the rigid body is in motion. Rigid body motion is either translation or rotation. In order to describe translation and angular rotation a right hand coordinate system is required with an origin at the center of gravity of a rigid body. The motion of a rigid body is completely defined when the linear translation of the center of gravity and the angular rotation of the rigid body are known. Both translation and angular rotation have three degrees of freedom; three translations parallel to the x, y and z-axes and three rotations about the x, y and z-axes. The rotation of rigid bodies is the only topic discussed in this paper. THE RIGHT HANDED COORDINATE SYSTEM In order that algebraic signs in vector transforms produce acceptable and correct algebraic signs for multiple rigid body rotation calculations the coordinate axes must be right handed. Compare the right hand system in Fig 1 (a) to a coordinate system in Fig 1(b), not a right hand system.
y x x z start x y z x = 90 rotation x y z x = 90 rotation y y = 90 y x z y = 90 z x y z = 90 y x z z = 90 z

(a) x

(b)
z

y start

Figure 1: The start axes in (a) defines a right hand system whereas the start axes in (b) do not define a right hand system. A DERIVATION FOR RIGID BODY ROTATIONS A dramatic way to introduce a method for the construction of vector transforms is to examine the results of previously published versions. A previously published vector transform is shown in eq. (1).

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 RIGID BODY ROTATIONS

R = Sin Cos +Cos Sin Sin Cos Cos+Sin Sin Sin Cos Sin (1) i Sin Sin+Cos Sin Cos Cos Sin+Sin Sin Cos Cos Cos x x R y = = X + Y + Z y (2) i i i i z z At first glance eq. (1) appears to be a 3 by 3 matrix but it is shown in eq. (2) that each of the 3-components is the sum of three unit vectors in which two, short vertical bars serve as the signs of addition and at the same time separate vectors X, Y and Z. The matrix multiplications shown in eq. (3) locate the x, y and z-coordinates of a particle initially at point P but at Q after three rigid body rotations ( ).
Cos Cos Sin Cos Sin

{}

){ }

xQ = R i i

{xP i}
{ }
y x z start

yQ = R yP i i i

{ }

zQ = R zP i i i

{ }

(3)

Equation (4) is a solution of eq. (1) with point P at 1 0 0 using test angles of = 0, = 0 and = 90. 0 1 0 1 0 P xQ = R x = 1 0 0 0 = 1 ; note the 2-component sign. (4) i i i 0 0 0 0 0

{}

Compare the result in eq. (4) with the graphical solution in Fig 1.
y x z x==0 z y x y = = 0 y z z = = 90 x

Figure 1: The x-axis of the graphical solution differs from that in eq. (4). THE COORDINATE AXES Right hand coordinate axes are defined in Fig 2. Y y O x

(a)

xi = x 1 0 0 yi = y 0 1 0 zi = z 0 0 1

Figure 2: The origin O of non-rotating X, Y and Z-axes and the rotating x, y and z-axes are at the center of gravity of a rigid body as shown in Fig 2. POSITIVE RIGID BODY ROTATIONS Positive direction rotations are defined in Fig 3. Y y + x X Z O O Z + Figure 3 (a) (b)

Y + O (c) X

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THREE RIGID BODY ROTATIONS

The rotating xyz-axes shown in Fig 3 are initially parallel to the non rotating XYZ axes. The unit vectors x, y and z in (a), (b) and (c) are defined by positive angular rotations. The YZ-plane in (a) shows the orientation of the yz-axes after a rotation. The XZ-plane in (b)and the XY-plane in (c) are positive and rotations, and the xyz and XYZ axes share the same origin. RIGID BODY ROTATIONS The directions of the unit vectors in eqs. (7), (11) and (15) parallel the positive coordinate axes. The directions of the vectors in eqs. (4), (5), (6), (8), (9), (10), (12), (13) and (14) are negatively directed. The negative angular directions are those from a rotated rigid body position back to the X, Y and Z-axes (essentially, a left hand rule). x = i y = i +1 0 0 Cos 0 Sin 0 x = Cos i Sin 0 y = +1 i 0 Sin z = Cos i 0 x = i y = i z = i 0 Sin Cos Sin 0 Cos 0 0 +1

(7)

(8)

(9)

(10)

(11)

(12)

Cos z = Sin i 0

(13)

(14)

(15)

Figure 4: Equations (7), (11) and (15) parallel the positive directions of the X, Y and Z axes. The vectors (8) and (9) are mutually orthogonal and orthogonal to eq. (7). The unit vectors in eqs. (10) and (12) are mutually orthogonal and orthogonal to the unit vector eq. (11). Equations (13) and (14) are mutually orthogonal and orthogonal to the vector in eq. (15). A RIGID BODY ROTATIONAL SEQUENCE The derivation process begins with a rotation followed by a rotation and finally by a rotation. The solution of a desired rotational sequence is solved in the reverse order as cited. The components produced by rotations about the zaxis () are evaluated by the the dot products in the braces of eq. (16). Cos 0 Sin 0 0 z Sin 0 Cos 0 0 z 0 0 0 0 +1 z

z P i zi

X = z zP = i i i z zP
i i

0 = 0 z (16)

For a y-axis or rotation three components of eq. (17) are defined by the dot products in the braces of eq. (17).

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 RIGID BODY ROTATIONS

Cos 0 0 0 Sin z 0 0 y X = X = +1 0 i i i 0 z Sin 0 y X 0 0 i i Cos z
y i Xi

z Sin Sin 0 Cos

0 z Cos

=z

(17)

For an x-axis or rotation three components of eq. (18) are defined by the dot products in the braces of eq. (18). +1 0 0 0 x X = X = Cos i i i Sin 0 x X Sin i i Cos
x i Xi

z Sin 0 z Cos z Sin 0 z Cos z Sin 0 z Cos

Sin = z Cos Sin Cos Cos

(18)

For a y-axis or rotation the three components of eq. (19) are defined by the dot products in the braces of eq. (19).
z P i yi

Y = z yP = i i i
z P i yi

Cos 0 Sin y 1 0 0 Sin 0 Cos y 1 0 0 0 0 0 y 1 +1 0

=y

Sin Cos 0

(19)

For a y-axis or rotation the components of Y in eq. (20) are determined from i the scalar dot products in the braces of eq. (20). Cos Sin y Y 0 y Cos i i Sin 0 0 Sin Sin Cos y Y = Y = +1 y Cos = y Cos (20) i i i 0 0 Sin Sin Sin Sin y Y 0 y Cos i i Cos 0 For an x-axis or rotation the components of Y are determined from the i

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THREE RIGID BODY ROTATIONS

scalar dot products in the braces of eq. (21). +1 Sin Cos y Y 0 y Cos i i 0 Sin Sin 0 Sin Cos y Y = Y = Cos y Cos i i i Sin Sin Sin 0 Sin Cos y Y Sin y Cos i i Cos Sin Sin Evaluating the dot products in eq. (21) defines eq. (22).

(21)

Y =y i

Sin Cos Cos Cos Sin Sin Sin Cos Sin +Sin Sin Cos

(22)

For a z-axis or rotation three components of eq. (23) are defined by the dot products in the braces of eq. (23). Cos 0 Sin 0 0 0 z Sin 0 z P Z = z = Cos 0 = 0 i i i 0 z 0 0 z zP 0 0 z i i +1 z The dot products within braces in eq. (24) define the components of Z . i
z P i zi

(23)

Cos 0 0 0 z Sin Sin z 0 0 y Z = Z +1 0 = 0 i i i 0 z Sin 0 y Z 0 0 z Cos i i Cos z The dot products within braces in eq. (25) define the components of Z . i
y i Zi

(24)

+1 z Sin 0 0 0 z Cos 0 z Sin x Z = Z Cos 0 i i i Sin z Cos 0 z Sin x Z Sin 0 i i Cos z Cos
x i Zi

z Sin = z Cos Sin z Cos Cos (25)

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 RIGID BODY ROTATIONS

CONNECTING VECTORS X , Y AND Z i i i The sum i of the vectors Xi , Yi and Zi in eqs. (18), (22) and (25) are defined in eq. (26). Cos Cos i= X +Y +Z = x Sin Cos +Cos Sin Sin i i i Sin Sin Cos Sin Cos +y Sin Cos +Sin Cos Sin Sin Cos Cos +z Cos Sin Sin Sin +Sin Cos Cos Cos Cos (26)

Equation (27) is the vector sum in which x, y and z magnify the unit vectors in the matrices. Equation (27) is evaluated by casting it a matrix multiplication function. x Equation (28) also defines the vector transform S y = i. i z

{}

S i

{}
x y z

=i =

Cos Cos Sin Cos +Cos Sin Sin Sin Sin Cos Sin Cos

Sin Cos Sin Cos Cos Sin Sin Sin + Cos Sin Cos Sin +Sin Sin Cos Cos Cos

{}
x y z

(27)

Equation (28) shows the vector transform is equal to the unit vector sum in the matrices that point from origin O to point Q after the rigid body rotation occurs. Cos Cos Sin Cos +Cos Sin Sin Sin Sin Cos Sin Cos Sin Cos Sin Cos Cos Sin Sin Sin + Cos Sin Cos Sin +Sin Sin Cos Cos Cos (28)

S = i

RESULTS Equations (16) to (28) demonstrate a method for constructing a vector transform for rotating sequences about the x-axis () followed by rotation about the y-axis () and finally a rotation about the z-axis (). There are two unique features of this derivation: first, the derivation method of a sought for solution is developed in the reverse order; that is, use a sequence instead of a ; and second, instead of using positive angles to locate an axis after rigid body rotation the angle used is from the rotated position of an axis back to the reference axis. This is equivalent to the use of a left hand rule. The results of the derivation scheme are best examined by numerical examples. This comparison is introduced by evaluating the transform from eq. (1) with results of the alternative derivation in eq. (28).

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THREE RIGID BODY ROTATIONS

R = Sin Cos +Cos Sin Sin Cos Cos+Sin Sin Sin Cos Sin i Sin Sin+Cos Sin Cos Cos Sin+Sin Sin Cos Cos Cos X Y Z
Cos Cos Sin Cos Sin Sin Sin Cos Sin Cos Cos Sin +Sin Sin Cos Cos Cos Cos Cos Sin Cos Sin

(1)

S = Sin Cos +Cos Sin Sin + Cos Cos Sin Sin Sin + Cos Sin (28) i Note the differences in the algebraic signs in X, Y and Z in eq. (28) compared to those in eq. (1). The possible correctness of a solution is measured by the following 0 0 -1 0 0 1 solutions for = = = 90: R = 0 1 0 ; and S = 0 -1 0 . These i i 1 0 0 1 0 0 1 0 0 solutions use eq. (3) in which qP is alternatively 0 , 1 and 0 . i 0 0 1

{ }

0 0 -1 P R q ; 0 1 0 i i 1 0 0

{ }

{}

1 0 0 0 -1 0 0 0 0 -1 0 = 0 ; 0 1 0 1 = 1 ; 0 1 0 0 1 1 0 0 0 0 1 0 0 No correct solutions!
y y x z x==0 z y = = 0 x y x

{ }{ } { } {} {}
z z = = 90

0 -1 0 = 0 1 0

y x z start

0 0 1 For = = = 90, S = 0 -1 0 . i 1 0 0
y x z start x y z x = 90 rotation y x z z x y z = 90 y = 90

1 0 0 0 1 0 0 0 0 1 0 1 0 = 0 ; 0 -1 0 -1 = 0 ; 0 -1 0 0 = 0 0 1 1 0 0 0 1 1 0 0 1 0 All solutions are correct! Devices that define the rotated position of aircraft after rotary maneuvers have always been sought. The earliest attempt to solve this problem was introduced in the 17th century by Leonhard Paul Euler with recent attempts by manufacturers of airplane guidance system. Most 20th century developmental work is proprietary. There was little to no public knowledge about the rotation of rigid bodies until after 1972. A significant era of change began with developments in computers, both institutional and personal, together with analytical software and the publication of three books in 1972, 1973, 1975 and a fourth in 1996. These four books are: (1) B. Etkin: Dynamics of Atmospheric Flight, John Wiley, New York, 1972, pp. 112-118; (2) D. McRuer, I. Ashkenas and D. Graham: Aircraft Dynamics and Automatic Control, Princeton University Press, 1973, pp. 224-232; (3) J. Roskam: Flight Dynamics of Rigid and Elastic Airplanes, Part 1, Roskam Aviation, Lawrence, Kansas, 1975, pp. 2.17-2.20 and (4) pp. 312-313 of B. Etkin, L.D. Reid: Dynamics of Flight Stability and Control, 3rd ed., John Wiley, New York, 1996. Identical vector transforms are presented on the pages cited, all flawed.

0 0 1 P S q ; 0 -1 0 i i 1 0 0

{ }

{}

{ }

{}

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 RIGID BODY ROTATIONS

A VECTOR TRANSFORM FOR ROTATIONAL SEQUENCE The derivation process is identical to that used to describe the rotational sequence. Although derivation details of a rotational sequence are not shown the result is shown in eq. (48), including magnification factors x, y, z. Cos (Cos Cos Sin Sin ) U = x Cos (CosSin +Sin Cos ) i Sin (CosSin +Sin Cos ) +x 0 Sin Sin (Cos Cos Sin Sin ) Cos Sin (Cos Cos Sin Sin )

Cos (SinCos Cos Sin ) y Cos(SinSin+CosCos)+SinSin(SinCos CosSin) Sin(SinSin+CosCos)Cos Sin (SinCosCosSin) Sin +z Cos Sin Cos Cos xQ = i (48)

To measure the correctness of eq. (48) install = = = 0 and " = 90 in U xP , yQ = U yP and zQ = U zP with point P at i i i i i i i i

{ }

{ }

{ }

1 0 0 0 0 -1 0 P P xP = 0 , y = 1 and z = 0 . The result is U = 0 1 0 0 . i i i i 0 0 1 0 0 0 1 0 0 -1 0 xQ = 0 1 0 0 i 0 0 0 1 1 0 0 0 -1 0 0 -1 Q 0 0 -1 0 0 = 1 ; yQ = 0 1 0 0 1 = 0 ; zi = 0 1 0 0 i 0 0 0 0 0 1 0 0 0 0 0 1 All solutions are correct!

y O start x O z x==0 x z y O x y = = 0 y O z z = = 0 x y

{} {} {}
y z

{}

{}

{}

0 0 0 = 0 1 1
x

O z z = = 90

0 0 0 1 For a 2nd review install = = = "=90 in eq. (48): U = 0 -1 0 0 . i 0 0 -1 0 0 0 0 1 xQ = 0 -1 0 0 i 0 0 -1 0

y x z y x

{}

1 0 0 0 0 1 0 0 0 0 0 1 Q 0 = -1 ; yQ = 0 -1 0 0 1 = 0 ; z = 0 -1 0 0 i 0 0 0 0 -1 0 0 -1 i 0 0 -1 0 All solutions are correct!

x z z

{}

{}
x

0 1 0 = 0 1 0
y

z y x y start x = 90 y = 90 z = 90 A graphical solution after rotation sequence = = = = 90.

z = 90

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THREE RIGID BODY ROTATIONS

A VECTOR TRANSFORM FOR SEQUENCE The vector transform for the rotation sequence is shown in eq. (49). Cos(CosCosSinSin)Sin(CosSin+SinCos ) Si = Sin(CosCosSinSin )+Cos (Cos Sin+SinCos ) 0 Cos (SinCosCosSin)Sin(SinSin+CosCos) + Sin(SinCosCosSin)+Cos(SinSin+CosCos ) 0 0 + 0 1 To confirm eq. (49) install = = = 90: 0 1 0 1 0 x = -1 0 0 0 = -1 0 0 1 0 0
y x z y z

(49) 0 1 S = -1 0 i 0 0 0 1 0 0 1 0 1 0 0 y = -1 0 0 1 = 0 z = -1 0 0 0 = 0 0 1 0 0 0 0 1 1 All solutions are correct! 0 0 1 0 0 1

{}

{}

{}

x x z y z x y

start = 90 = 90 = A graphical solution after rotation sequence = = = 90.

90 0 0 1 0 0 1

1 0 For a second test of eq. (49) install = = = 0; S = 0 1 i 0 0 1 0 0 1 1 1 0 0 0 0 1 0 0 0 x= 0 1 0 0 = 0 y= 0 1 0 1 = 1 z= 0 1 0 0 = 0 0 1 0 0 0 0 1 0 0 0 0 1 1 All solutions are correct!

{}
x

{}

{}

y z

y x

y x

y x

z z z start z = = 0 z = = 0 z = = A graphical solution after rotation sequence = = = 0.

And finally, a test of eq. (49) in which the following conditions are installed. Cos 30 -Sin 30 0 For = 30, == 0; S = Sin 30 Cos 30 0 i 0 0 1 Cos 30 -Sin 30 0 x = Sin 30 Cos 30 0 0 0 1

{}

1 Cos 30 Cos 30 -Sin 30 0 0 = Sin 30 , y = Sin 30 Cos 30 0 0 0 0 0 1

{}

0 -Sin 30 1 = Cos 30 0 0

Cos 30 -Sin 30 0 The rotated z-axis is at Sin 30 Cos 30 0 0 0 1

{}

0 0 0 = 0 1 1

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CONCLUSIONS
CONCLUSIONS "and S. This derivation method produced vector transforms S , U i i i The correctness of the vector transforms was tested by comparing solutions to simple graphical solutions. All demonstrations produced acceptable results. Three vector transforms demonstrate the construction of solutions for three unique rotations ( ), four rotational rotations in an arbitrary sequence ( ) and three identical or z-axis rotations ( ). The results obtained tend to support the initial claim of versatility. In each derivation, such as S = X +Y +Z , the sum of three i i i i vectors defines a vector transform. However, each of the vectors in the sum may be the sum of one or more vectors such as X = A +B +C . i i i i The rear to front solution process (a desired rotation of is solved in a sequence ) is a necessary and important part of the derivation method. It is necessary and important too that the rotational direction about the x, y and z-axes are measured from the final rotated position back to a non-rotating axis. Without these derivation features the vector transforms developed are flawed in the same manner that eq. (1) is.

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