Newton's Second Law For A System of Rigid Bodies
To consider rigid body dynamics, Newton's second law must be extended to define the relationship between the movement of a rigid body and the system of forces and torques that act on it.
Newton's formulated his second law for a particle as, "The change of motion of an object is proportional to the force impressed and is made in the direction of the straight line in which the force is impressed." Because Newton generally referred to mass times velocity as the "motion" of a particle, the phrase "change of motion" refers to the mass times acceleration of the particle, and so this law is usually written as
where F is understood to be the only external force acting on the particle, m is the mass of the particle, and a is its acceleration vector. The extension of Newton's second law to rigid bodies is achieved by considering a rigid system of particles.
Read more about this topic: Rigid Body Dynamics
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