| 641 |
|
\label{introEq:EulerRotMat} |
| 642 |
|
\end{equation} |
| 643 |
|
|
| 644 |
+ |
\begin{figure} |
| 645 |
+ |
\centering |
| 646 |
+ |
\includegraphics[width=\linewidth]{eulerRotFig.eps} |
| 647 |
+ |
\caption[Euler rotation of Cartesian coordinates]{The rotation scheme for Euler angles. First is a rotation of $\phi$ about the $z$ axis (blue rotation). Next is a rotation of $\theta$ about the new $x\prime$ axis (green rotation). Lastly is a final rotation of $\psi$ about the new $z\prime$ axis (red rotation).} |
| 648 |
+ |
\label{introFig:eulerAngles} |
| 649 |
+ |
\end{figure} |
| 650 |
+ |
|
| 651 |
|
The equations of motion for Euler angles can be written down |
| 652 |
|
as\cite{allen87:csl} |
| 653 |
|
\begin{align} |
