Angular acceleration

If $ \omega $ is allowed to vary over time, then we must consider angular acceleration. In the 2D case, this is defined as

$\displaystyle \alpha = { d\omega(t) \over dt } .$ (8.16)

For the 3D case, there are three components, which results in

$\displaystyle (\alpha_x,\alpha_y,\alpha_z) .$ (8.17)

These can be interpreted as accelerations of pitch, yaw, and roll angles, respectively.

Steven M LaValle 2016-12-31