Norrbin 





/ 



IV), 



-(X), 





Fig, 7, Graphical ^dedu^tlon of the absolute time derivative of a 

 vector OP = h defined in the moving body system 



the successive rotations through the angle of yaw, ijj, the angle of 

 pitch, 0, and the angle of roll, <^, respectively, defined around the 

 body axes z, y, and x in their progressively changed positions, 



In_§ certain moment of time the^rela^ion between the space 

 vector OqP = x^p and radius vector OP = Xp, invariant in the body 

 system, is given by 



^oP " ^oO - -^ ^p 



(4.1) 



where the orthogonal transformation matrix reads 



824 



