Main Article Content
In most engineering mechanics textbooks, the equations of general rigid-body motion are usually arrived at in anon-rigorous way, often through motivation using special cases and generalization. The topic of motions in a moving frame is then usually presented separately afterward. In this paper, the equation for velocity of a rigid body is derived by attaching a frame to the rigid body and utilizing the property of a moving frame. The existence of a unique angular velocity vector is then proved and the equations for the general motion of a rigid body follow logically.
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