Theorem for Change of the Rigid Body Generalized Impulse

A rigid body absolute general motion is studied in this article. The rigid body is assumed as homogeneous and unsymmetrical. New additional kinetic characteristics are used. The most important of these are the following: the vector-real generalized velocity of the rigid body, the vector-generalized impulse of the rigid body and the vector-real generalized force of the rigid body. Using these new kinetic characteristics, a new theorem is defined. It is called Theorem for change of the rigid body generalized impulse. With its help, six differential equations in matrix form are obtained. These equations describe the rigid body absolute general motion. Two cases are studied – a pole that coincides and does not coincide with the rigid body mass center. The new theorem enriches the theory of Rigid Body Mechanics. The compact matrix equations provide an excellent opportunity for studying the most complicated dynamic tasks. These matrix equations are suitable for numerical solutions with modern mathematical programs such as MatLab, MathCAD and others.