[AMR] Fix typos, improve space usage some more

2026-09-10 19:15:25 +02:00 · 2026-08-01 11:31:44 +02:00
parent 55030a0d0a
commit c80452f383
8 changed files with 15 additions and 14 deletions
@@ -1,6 +1,6 @@
 \subsection{Rigid Body Dynamics}
 \label{sec:rigid-body-dynamics}
-\shortdefinition[Newton II] For fin. body w/ mass $m$ and inertia mat. $I$, with force $\vec{F}$ and torque $\vec{T}$ on \bi{Centre of Mass} (CoM), expressed in body frame:
+\shortdefinition[Newton II] For fin. body w/ mass $m$ and inertia mat. $I$, with force $\vec{F}$ and torque $\vec{T}$ on \bi{Centre of Mass} (CoM), in body frame:
 \begin{align*}
    {_B}\vec{F} & = \sum {_B}\vec{F}_i = m({_B} \vec{\dot{v}}_{CoM}) + m_B \vec{\omega} \times {_B}\vec{v}_{CoM}           \\
    {_B}\vec{T} & = \sum {_B}\vec{T}_i = \mat{I}({_B} \vec{\dot{\omega}}) + {_B} \vec{\omega} \times \mat{I}_B\vec{\omega}