# Difference between revisions of "Dynamic Information"

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{{note}} See the [[#Link Inertial Tensor Convention|link inertial tensor convention]] below. | {{note}} See the [[#Link Inertial Tensor Convention|link inertial tensor convention]] below. |

## Revision as of 18:06, 4 December 2013

**TODO:**Something!

SEE AML

## Contents |

## Body (Base Link)

### Mass (kg)

mass 9.251 kg

### Center of Mass (m)

X Y Z -1.812e-03 9.291e-03 5.294e-03 m

### Inertial Tensor (kg*m^{2})

I
_{xx} |
I
_{xy} |
I
_{xz} |
2.654e-01 | 2.029e-04 | 9.871e-05 |

I
_{yx} |
I
_{yy} |
I
_{yz} |
2.029e-04 | 6.379e-02 | 3.037e-03 |

I
_{zx} |
I
_{zy} |
I
_{zz} |
9.871e-05 | 3.037e-03 | 3.093e-01 |

Note See the link inertial tensor convention below.

## Link Inertial Tensor Convention

The components of tensors of degree two can be assembled into a matrix. For the inertia tensor this matrix is given by,

It is common in rigid body mechanics to use notation that explicitly identifies the x, y, and z axes, such as I_{xx} and I_{xy}, for the components of the inertia tensor.

(courtesy of Wikipedia)