On the Dynamics with s Collisions of a Spatial Physical Pendulum
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Abstract
This paper discusses the dynamics of a general rigid solid, hanged by a spring excited at its other end. The approach is a multibody one and the matrix equation of motion is obtained from the general matrix differential equation, by canceling the matrix of constraints. The motion of the rigid solid is limited to a zone in the space, the borders being two vertical walls. A great attention is paid to the apparition of a frictionless collision because the equations of motion of the rigid solid must be translated other system of coordinates. An example highlights the theory.
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