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Centrifugal[bnum] returns the vector of centrifugal forces associated with body bnum.
• The bnum argument can take any of the forms accepted by
Loads to obtain centrifugal force terms from multiple bodies.

Centrifugal[All] returns the entire centrifugal load vector, in current velocity coordinates.
Centrifugal[All] +
MassMatrix[All] . Acceleration[All] returns the entire dynamic load vector.
• The loads returned by Centrifugal are not converted into {force, moment} coordinates. If the current solution method is set to Euler the loads returned by Centrifugal will be in Euler coordinates.
• See also: Loads.

Further Examples

Load the Modeler3D package and define a simple model.

Here is the load vector acting on the link body as a result of its angular velocity and inertia properties. Note that the moment applied to the body is expressed in Euler parameter space.

A change of modeling coordinate system substantially changes the centrifugal force expression, and gives the moment vector expressed in the more familiar local angular space.

What is the relationship between the centrifugal moment in local angular space and the same moment in Euler parameter space? Here the moments in Euler space are converted to local angular space.

See HelpModel3D.

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