The words contained in this file might help you see if this file matches what you are looking for:

...Scribe notes for rigid body dynamics lecture given on feb jonathan culp there are degrees of freedom dof in an unconstrained position q rotation linear velocity angular but computationally speaking its rare that the state vector is represented as more commonly momentum p and l replace their respective velocities so our now t m v mass i moment inertia also referred to tensor explained later notice similarity two unlike changes with time understanding motion point masses we have additional problems consider bodies collide each other points away from center if object spinning collision has a different than will act not only apply torque it which dependent handle simulate both properly need understand rotational component s movement can be broken down into how fast any pi moving imagine pinned no at denote by pcmass rotates about axis note implies this change picture top gradually looses ability stay upright create another denoted ri circular path vp should intuitive gives us orthogonal pr...