Dynamics of a Vehicle Containing Moving Parts

Abstract

The dynamical equations determining the linear and angular motions of a rigid carrier vehicle which houses a number of rigid moving parts are derived. The motions of the parts either are prescribed time functions or are themselves to be determined. For the latter case, the equations given here become part of a system of coupled equations for determining simultaneously the vehicle’s motion and that of the moving parts. Two simple applications illustrating the use of the equations are presented.