The Free Rigid Body

  • Jerrold E. Marsden
  • Tudor S. Ratiu
Part of the Texts in Applied Mathematics book series (TAM, volume 17)


As an application of the theory developed so far, we discuss the motion of a free rigid body about a fixed point. We begin with a discussion of the kinematics of rigid-body motion. Our description of the kinematics of rigid bodies follows some of the notation and conventions of continuum mechanics, as in Marsden and Hughes [1983].


Rigid Body Poisson Bracket Euler Angle Cotangent Bundle Heteroclinic Orbit 
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Copyright information

© Springer Science+Business Media New York 1999

Authors and Affiliations

  • Jerrold E. Marsden
    • 1
  • Tudor S. Ratiu
    • 2
  1. 1.California Institute of TechnologyControl and Dynamical Systems, 107-81PasadenaUSA
  2. 2.Département de mathématiquesEcole polytechnique fédérale de LausanneLausanneSwitzerland

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