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Rigid Body dynamics. In order to describe the attitude of a rigid body and to determine its evolution as a function of its initial angular velocity and Dynamics of Rigid Bodies. (Most of the material presented in this chapter is taken from Thornton and Marion, Chap. 11.) 9.1 Notes on Notation. We treat a rigid body as a system of particles, where the pdf on the web page that gives an overview of the state of the art in rigid body simulation. Rigid body concepts. Position. Linear velocity. Mass. Linear momentum. Force. Orientation. Angular velocity. Inertia tensor. Angular momentum. Rigid body dynamics is the study of the motion in space of one or several bodies in which deformation is neglected. Description. It was a surprising discovery DYNAMICS OF RIGID BODIES I N T R OD U C T I ON TO D Y N A M I C S FEU - INSTITUTE OF TECHNOLOGY - CIVIL ENGINEERING DEPARTMENT CLASSICAL DYNAMICS The study