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WHEN CREATING A GEOMETRY, THE MOST BASIC GLOBAL SYSTEM THAT YOU
CAN POSSIBLY USE IS THE CONVENTIONAL CARTESIAN COORDINATE
SYSTEM. THIS COORDINATE SYSTEM IS A RECTANGULAR COORDINATE
SYSTEM (X, Y, Z) WHICH FOLLOWS THE ORTHOGONAL "RIGHT HAND" RULE.
THIS COORDINATE SYSTEM MAY BE USED TO DEFINE THE JOINT LOCATIONS
AND LOADING DIRECTIONS. AS SEEN IN THE FIGURE, THE TRANSLATIONAL
DEGREES OF FREEDOM ARE DENOTED BY U1, U2, & U3 AND THE ROTATIONAL
DEGREES OF FREEDOM ARE DENOTED BY U4, U5, & U6.
THE SECOND METHOD OF SPECIFYING A GLOBAL COORDINATES OF A
GEOMETRY IS BY USING WHAT THEY CALLED CYLINDRICAL COORDINATE
SYSTEM. IN THIS COORDINATE SYSTEM, THE X AND Y COORDINATES OF THE
CONVENTIONAL CARTESIAN SYSTEM ARE REPLACED BY R (RADIUS) AND Ø
(ANGLE IN DEGREES). THE Z COORDINATE IS IDENTICAL TO THE Z
COORDINATE OF THE CARTESIAN SYSTEM AND ITS POSITIVE DIRECTION IS
DETERMINED BY THE RIGHT HAND RULE.