Basic Concepts from Physics

In this chapter we review some of the basic concepts of physics that are relevant to the analysis of motion and interaction of rigid bodies . Arigid body is classified according to the type of region that contains its mass, the topic of Section 2.1. Section 2.2 introduces curves in two or three dimensions as representative paths of a particle in the absence of forces. This topic is referred to as kinematics . The section introduces the physical concepts of position, velocity, and acceleration. Many applications are better handled with an appropriate choice of coordinate system. The Cartesian system is usually convenient, but we also take a look at polar coordinates, cylindrical coordinates, and spherical coordinates. In addition to kinematics of a single particle, we also look into the kinematics of particle systems and of solid bodies. This material is the foundation for the physics engines discussed in Chapter 6 .