Kinematical Preliminaries: Fundamental Equations
In this chapter, we review a few kinematical concepts which are useful in studying the dynamics of biosystems, particularly human body dynamics. Kinematics is one of the three principal subjects of dynamics, with the other two being kinetics (forces) and inertia (mass effects). Kinematics is sometimes described as a study of motion without regard to the cause of the motion.
We will review and discuss such fundamental concepts as position, velocity, acceleration, orientation, angular velocity, and angular acceleration. We will develop the concept of configuration graphs and introduce some simple algorithms for use with biosystems.
In Chapters 9 and 10 we review the fundamentals of kinetics and inertia.