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Kinematics/3D Coordinate Systems

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Fixed Rectangular Coordinate FrameEdit

In this coordinate system, vectors are expressed as an addition of vectors in the x, y, and z direction from a non-rotating origin. Usually   is a unit vector in the x direction,   is a unit vector in the y direction, and   is a unit vector in the z direction.

The position vector,   (or  ), the velocity vector,  , and the acceleration vector,   are expressed using rectangular coordinates in the following way:




Note:   ,  

Rotating Coordinate FrameEdit