Newton-Euler equations

For a single rigid body executing planar motion, we have the following set of Newton-Euler equations:

$\sum F = m a_G$

$\sum M_A = I_A \alpha$

where

G

= center of mass of the body

A

= fixed point of the rigid body

$\sum F$ = resultant force vector acting on rigid body

$\sum M_A$ = resultant moment vector acting about point A

I A

= mass moment of inertia about point A

a G

= acceleration vector of the center of mass G

α

= angular acceleration vector of the rigid body

[edit] See also

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