NC080612DP01 - Matrix expression of the torsor transposition (Matrix cross product).doc Rv.

juin 2008

Note de Calcul
Matrix expression of the torsor transposition (Matrix cross product)

Rsum :
Matrix expression to change the orientation of a torsor to be used in codes for forces and moments calculation.

1. Introduction
Vectorial product (or vector cross product)
is used in mechanics to transfer a torsor
from a base to another which has distinct
origin and angle between axis X, Y and Z.

This operator is particulary used in codes

to transpose thes torsors on a same space
to apply the fundamental principle of
dynamic which requires that torsors must
be in a same space.
fig 1. Cross product representation

2. Matrix expressions
2.1. Global transfer matrix [M]
General expression of global transfer matrix [M] (6x6) from coordinate system R1 to R2 with respective origins
O1 and O2 (see on Appendix A) coud be written as :

PR1 R2 [0]
M R1 R2 =
PR R O O PR R
1 2 1 2 1 2

2.2. Single rotation matrix [P]

[P] is the single rotation matrix (3x3); its expression depends to angular shift between coordinate systems R1 to
R2. For a rotation around x axis of an angle , rotation matrix [P] (3x3) will be as described below :

1 0 0
sin
[ PNN ' ] = 0 cos
0 sin cos

]
2.3. Single translation matrix [
[] is a skew-symmetric (or antisymmetric) single transfer matrix (3x3); it depends to coordinates of vector
O1O2 in coordinate system R1 :

0 z y
[ ]O1O 2

= z 0 x
y x 0

David PERRIN 1/2

NC080612DP01 - Matrix expression of the torsor transposition (Matrix cross product).doc Rv. juin 2008

2.4. Matrix expression of the vectorial product

The torsor {T }
S1 S 2 O , R
1 1
representing the resultant of loads R and moments M of solid S1 to solid S2 on origin
point O1 of coordinate system R1 is :

R Si S j
{T }
S1 S 2 O , R =
1 1
M O1 ,Si S j R
1

The definition of {T }
S1 S 2 O , R
2 2
from the expression of {T }
S1 S 2 O , R
1 1
is :

[ ]
PR R R S1S2
{T } =
]( )
1 2

S1 S 2 O , R
2 2
[ ] [
PR1 R2 M O1 ,S1S2 + PR1 R2 R S1 S2 O1O2 R
2

Where O1O2 = x x1 + y y1 + z z1 is the vector of origins of R1 and R2 in coordinates systems R1 and [P] the
corresponding rotation matrix (3x3) depending to angular shift between coordinate systems R1 to R2.

Vector product for moment could be altered :

[P R1 R2 ] (R S1 S 2 ) [ ]( [ ]) [
O1O2 = PR1 R2 R S1S2 * O1O 2 = PR1 R2 O1O 2 * R S1 S2 ] ([ ] )
Where [ ] is the single translation matrix (3x3) of vector O O
O1O 2 1 2 coordinates in R1 :

0 z y
[ ] O1O 2

= z 0 x
y x 0
We have finally :

[ ]
PR R R S1S2
{T } 1 2
=

S1 S 2 O , R
2 2
[ ] ([ ][
PR1 R2 M O1 ,S1S2 + PR1 R2 * O1O 2 R S1S2 R
2
])
Defining the single vector (
F O1 ,R1 = R Si S j M O1 ,Si S j )
R1
with size (6x1) which contains both loads and
moments, the expression could be resumed as following single matrix product :

[
F O2 ,R2 = M R1 R2 F O1 ,R1 ]
With :

[M R1 R2 ] = [P [P ] [] ] [P[0] ]
R1 R2

R1 R2
O1O2 R1 R2

Bibliography :

[1] Wikipedia.- Article Cross product .- http://en.wikipedia.org/wiki/Cross_product

David PERRIN 2/2