# Physics - Kinematics - Combined Linear and Rotational Position

## Position of particle on solid object

On the position page we derived an equation for the linear position and on the orientation page we derived an equation for the rotational position.

 Px Py Pz
=
 Cx Cy Cz
+
 sqrt(Az2 + Ay2) * r sin(θ) + h*Ax sqrt(Az2 + Ax2) * r cos(θ) + h*Ay -Ax * r sin(θ)-Ay * r cos(θ) + h*Az

where:

• Px,Py,Pz = Cartesian coordinates of particle (absolute coordinates).
• Cx,Cy,Cz = Cartesian coordinates of centre of mass (absolute coordinates).
• Ax,Ay,Az = unit length vector giving direction of arbitrary axis which object is rotating around.
• r = distance of particle from arbitrary axis.
• h = distance of particle along arbitrary axis.

 metadata block see also: Correspondence about this page Mr. Dual Space Book Shop - Further reading. Where I can, I have put links to Amazon for books that are relevant to the subject, click on the appropriate country flag to get more details of the book or to buy it from them. Engineering Mechanics - Includes Statics book and dynamics book below.. Engineering Mechanics Vol 2: Dynamics - Gives theory for rigid dynamics, aims to allow prediction of effects of force and motion. Includes rotating frame of reference. Lots of colour diagrams, I guess its college / University level. Commercial Software Shop Where I can, I have put links to Amazon for commercial software, not directly related to the software project, but related to the subject being discussed, click on the appropriate country flag to get more details of the software or to buy it from them. EOVIA Carrara Studio 2 (Windows) - This is a commercial 3D modelling tool with some Physics simulation. I think it is aimed at games and animations, not for accurate physics simulation. Eovia (http://www.eovia.com). See carrara site for information about version 3 launch in Sept 2003. Carrara 3D Basics - A simpler low cost version

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