The simplest object we can study in kinematics is the point , also known as
particle in classical mechanics. We can describe a point A \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
A A in the
Euclidean space by providing a vector B p A ∈ R 3 \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
{}^\calB \bfp_A \in \mathbb{R}^3 B p A ∈ R 3
of coordinates in the reference frame B = ( B , B e x , B e y , B e z ) \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
\calB = (B, {}^\calB \bfe_x,
{}^\calB \bfe_y, {}^\calB \bfe_z) B = ( B , B e x , B e y , B e z ) .
Cartesian coordinates
The three vectors ( B e x , B e y , B e z ) \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
({}^\calB \bfe_x, {}^\calB \bfe_y, {}^\calB \bfe_z) ( B e x , B e y , B e z )
form an orthonormal basis
of R 3 \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
\mathbb{R}^3 R 3 . We can use it to express the Cartesian coordinates
of A \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
A A , which consist of:
The signed distance x \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
x x along the x-axis.
The signed distance y \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
y y along the y-axis.
The signed distance z \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
z z along the z-axis.
Mathematically:
B p A = [ x y z ] = x B e x + y B e y + z B e z \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
{}^\calB \bfp_A = \begin{bmatrix} x \\ y \\ z \end{bmatrix} = x\,{}^\calB \bfe_x + y\,{}^\calB \bfe_y + z\,{}^\calB \bfe_z B p A = x y z = x B e x + y B e y + z B e z Graphically:
On a side note, the figure above introduces a color convention from computer
graphics where the x-axis (sagittal) is red, the y-axis (lateral) green and the
z-axis (vertical) blue. This convention is common in off-the-shelf robotics
software such as RViz and OpenRAVE .
Cylindrical coordinates
Cylindrical coordinates represent the position of a point relative to an axis
of interest, typically the vertical z-axis, and a direction of interest,
typically the sagittal x-axis. They consist of three numbers:
The distance ρ \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
\rho ρ from A \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
A A to the z-axis.
The angle φ \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
\varphi φ , called azimuthal angle (or just the azimuth , which sounds way cooler), between the vector from B \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
B B to A \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
A A and e x \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
\bfe_x e x .
The axis coordinate z \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
z z .
Mathematically, we can map the vector B χ A \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
{}^\calB\bfchi_A B χ A of cylindrical coordinates to Cartesian ones by:
B χ A = [ ρ φ z ] ⟹ B p A ( B χ A ) = [ ρ cos φ ρ sin φ z ] \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
{}^\calB \bfchi_A = \begin{bmatrix} \rho \\ \varphi \\ z \end{bmatrix} \ \Longrightarrow
\ {}^\calB \bfp_A({}^\calB \bfchi_A) = \begin{bmatrix} \rho \cos \varphi \\ \rho \sin \varphi \\ z \end{bmatrix} B χ A = ρ φ z ⟹ B p A ( B χ A ) = ρ cos φ ρ sin φ z Graphically:
These coordinates are sometimes useful to analyze quantities that act on a body
frame of a car or mobile robot. For example, when an external disturbance is
applied to a humanoid robot ,
looking at the direction and amplitude of the disturbance in the horizontal
plane can be more insightful than looking at individual x- and y-coordinates.
Spherical coordinates
Spherical coordinates represent the position of a point by:
Its distance r \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
r r to the origin B \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
B B of the reference frame.
The angle φ \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
\varphi φ , the azimuth™, identical to the one used in cylindrical coordinates.
The angle θ \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
\theta θ , called polar , corresponding to the amount of rotation to apply in the resulting plane to go from the "pole" to the desired point.
Mathematically, we can map the vector B σ A \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
{}^\calB\bfsigma_A B σ A of spherical coordinates to Cartesian ones by:
B σ A = [ r φ θ ] ⟹ B p A ( B σ A ) = [ r cos φ sin θ r sin φ sin θ r cos θ ] \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
{}^\calB \bfsigma_A = \begin{bmatrix} r \\ \varphi \\ \theta \end{bmatrix} \ \Longrightarrow
\ {}^\calB \bfp_A({}^\calB \bfsigma_A) = \begin{bmatrix} r \cos \varphi \sin \theta \\ r \sin \varphi \sin \theta \\ r \cos \theta \end{bmatrix} B σ A = r φ θ ⟹ B p A ( B σ A ) = r cos φ sin θ r sin φ sin θ r cos θ Graphically:
Observations
Difference between the object and its coordinates
These three coordinate systems can be used equivalently to represent the
position of our point A \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
A A in the reference frame B \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
\calB B . Note how
we have made, and will consistently make, the distinction between the point
itself A \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
A A and the vector B p A \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
{}^\calB \bfp_A B p A (of coordinates (with
respect to a given reference frame)) used to represent this point
mathematically. The same point can for instance be written C p A \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
{}^\calC p_A C p A
in another reference frame C \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
\calC C translated with respect to
B \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
\calB B . This mental gymnastics of keeping track of both the object and
its representation will become all the more important as we move on to linear
velocities, angular velocities, twists , etc.
Omitting the reference frame
When there is no ambiguity, the reference frame exponent is often dropped and
the position of point A \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
A A is abbreviated as p A \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
\bfp_A p A . Yet, physical
quantities are always expressed with respect to a reference frame , so implicitly there is
always an underlying frame to any vector p A \def\LdG{\dot{L}_G}
\def\Ld{\dot{L}}
\def\bfA{\boldsymbol{A}}
\def\bfB{\boldsymbol{B}}
\def\bfC{\boldsymbol{C}}
\def\bfD{\boldsymbol{D}}
\def\bfE{\boldsymbol{E}}
\def\bfF{\boldsymbol{F}}
\def\bfG{\boldsymbol{G}}
\def\bfH{\boldsymbol{H}}
\def\bfI{\boldsymbol{I}}
\def\bfJ{\boldsymbol{J}}
\def\bfK{\boldsymbol{K}}
\def\bfL{\boldsymbol{L}}
\def\bfM{\boldsymbol{M}}
\def\bfN{\boldsymbol{N}}
\def\bfO{\boldsymbol{O}}
\def\bfP{\boldsymbol{P}}
\def\bfQ{\boldsymbol{Q}}
\def\bfR{\boldsymbol{R}}
\def\bfS{\boldsymbol{S}}
\def\bfT{\boldsymbol{T}}
\def\bfU{\boldsymbol{U}}
\def\bfV{\boldsymbol{V}}
\def\bfW{\boldsymbol{W}}
\def\bfX{\boldsymbol{X}}
\def\bfY{\boldsymbol{Y}}
\def\bfZ{\boldsymbol{Z}}
\def\bfalpha{\boldsymbol{\alpha}}
\def\bfa{\boldsymbol{a}}
\def\bfbeta{\boldsymbol{\beta}}
\def\bfb{\boldsymbol{b}}
\def\bfcd{\dot{\bfc}}
\def\bfchi{\boldsymbol{\chi}}
\def\bfc{\boldsymbol{c}}
\def\bfd{\boldsymbol{d}}
\def\bfe{\boldsymbol{e}}
\def\bff{\boldsymbol{f}}
\def\bfgamma{\boldsymbol{\gamma}}
\def\bfg{\boldsymbol{g}}
\def\bfh{\boldsymbol{h}}
\def\bfi{\boldsymbol{i}}
\def\bfj{\boldsymbol{j}}
\def\bfk{\boldsymbol{k}}
\def\bflambda{\boldsymbol{\lambda}}
\def\bfl{\boldsymbol{l}}
\def\bfm{\boldsymbol{m}}
\def\bfn{\boldsymbol{n}}
\def\bfomega{\boldsymbol{\omega}}
\def\bfone{\boldsymbol{1}}
\def\bfo{\boldsymbol{o}}
\def\bfpdd{\ddot{\bfp}}
\def\bfpd{\dot{\bfp}}
\def\bfphi{\boldsymbol{\phi}}
\def\bfp{\boldsymbol{p}}
\def\bfq{\boldsymbol{q}}
\def\bfr{\boldsymbol{r}}
\def\bfsigma{\boldsymbol{\sigma}}
\def\bfs{\boldsymbol{s}}
\def\bftau{\boldsymbol{\tau}}
\def\bftheta{\boldsymbol{\theta}}
\def\bft{\boldsymbol{t}}
\def\bfu{\boldsymbol{u}}
\def\bfv{\boldsymbol{v}}
\def\bfw{\boldsymbol{w}}
\def\bfxi{\boldsymbol{\xi}}
\def\bfx{\boldsymbol{x}}
\def\bfy{\boldsymbol{y}}
\def\bfzero{\boldsymbol{0}}
\def\bfz{\boldsymbol{z}}
\def\calA{\mathcal{A}}
\def\calB{\mathcal{B}}
\def\calC{\mathcal{C}}
\def\calD{\mathcal{D}}
\def\calE{\mathcal{E}}
\def\calF{\mathcal{F}}
\def\calG{\mathcal{G}}
\def\calH{\mathcal{H}}
\def\calI{\mathcal{I}}
\def\calJ{\mathcal{J}}
\def\calK{\mathcal{K}}
\def\calL{\mathcal{L}}
\def\calM{\mathcal{M}}
\def\calN{\mathcal{N}}
\def\calO{\mathcal{O}}
\def\calP{\mathcal{P}}
\def\calQ{\mathcal{Q}}
\def\calR{\mathcal{R}}
\def\calS{\mathcal{S}}
\def\calT{\mathcal{T}}
\def\calU{\mathcal{U}}
\def\calV{\mathcal{V}}
\def\calW{\mathcal{W}}
\def\calX{\mathcal{X}}
\def\calY{\mathcal{Y}}
\def\calZ{\mathcal{Z}}
\def\d#1{{\rm d}{#1}}
\def\defeq{\stackrel{\mathrm{def}}{=}}
\def\dim{\rm dim}
\def\p{\boldsymbol{p}}
\def\qdd{\ddot{\bfq}}
\def\qd{\dot{\bfq}}
\def\q{\boldsymbol{q}}
\def\xdd{\ddot{x}}
\def\xd{\dot{x}}
\def\ydd{\ddot{y}}
\def\yd{\dot{y}}
\def\zdd{\ddot{z}}
\def\zd{\dot{z}}
\bfp_A p A of position
coordinates.
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