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BodyEnergy[bnum] returns the kinetic energy possessed by body bnum.
• The bnum argument can take any of the forms accepted by
Loads to obtain energy terms from multiple bodies.

BodyEnergy[All] returns the total kinetic energy of the entire system.
BodyEnergy returns the body's mass and inertia matrices pre- and post-multiplied by the body's velocity and angular velocity vectors, resulting in  .
• See also:
Omega, Velocity.

Further Examples

Load the Modeler3D package and define a simple model.

When angular velocity is given in terms of local angular coordinates, then the total energy of a body with its centroid located at the local origin is the familiar expression  . To show this, we first rebuild the help model in local angular coordinates.

Here is the total energy of the link body, given its mass of 10.0 and principal moments of inertia {1.0, 25.0, 25.0}.

A change of modeling coordinate system makes the energy expression substantially more complex.

See HelpModel3D.

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