Problem Goldstein 4-19 (3rd ed. 4.

15)

The most direct way to do this problem is to take the body frame components
0 derived in class or in the text and convert them into space frame components
with the the help of the transposed Euler matrix
= AT 0 . (1)
This is also the most algebraically complicated way. An alternative is to start
with written in terms of its natural component vectors, transform each of
these components into the space frame, and add the results. We write
= + + , (2)
where

= ez , (3)

= e0 = e , (4)
and

= e0z , (5)
where ez is the space frame z basis vector, e0z is a body frame z basis vector,
and e0 and e are (the same) intermediate frame x-like basis vectors. Since
is already expressed in the space frame, we need only deal with and
. The orthogonal matrix DT will transform the components of from the
intermediate frame to the space fixed frame. Lets designate those as ( )xyz

cos

( )xyz = DT = DT 0 = sin . (6)
0 0

To obtain the space frame components of we can use either AT or DT CT ,

since their action is the same. We get

0 sin sin

( )xyz = AT = DT CT 0 = sin cos .
(7)


cos
With

0

( )xyz = 0 , (8)

1
all of the intermediate results are complete, and we simply add the corresponding
components of Eqs.(6), (7), and (8) to obtain


x cos + sin sin

y = sin sin cos , (9)

z
+ cos

which is the desired result.