mechanisms.components.inertance¶
Inertance components: masses and inertias, with kinetic energy ½ ẏᵀ M ẏ.
Classes
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Constant inertance M on a coordinate: a scalar, one value per axis, or a matrix. |
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A mass m [kg] at a point coordinate; a |
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The rotational inertia of a rigid body about the origin of a frame: a 3 by 3 matrix in the frame's axes [kg·m²], or its three principal moments. |