Bernstein, Dennis S.Goel, AnkitKouba, Omran2023-01-112023-01-112022-12-22https://doi.org/10.48550/arXiv.2212.11789http://hdl.handle.net/11603/26635Euler’s equation relates the change in angular momentum of a rigid body to the applied torque. This paper fills a gap in the literature by using Lagrangian dynamics to derive Euler’s equation in terms of generalized coordinates. This is done by parameterizing the angular velocity vector in terms of 3-2-1 and 3-1-3 Euler angles as well as Euler parameters, that is, unit quaternions.11 pagesen-USThis item is likely protected under Title 17 of the U.S. Copyright Law. Unless on a Creative Commons license, for uses protected by Copyright Law, contact the copyright holder or the author.Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)Text