Coordinate Transformations pace Biomedical Engineerin Life Support Coords of pt. P wrt fixed frame O-xyz Position of p wrt coord frame fixed to rigid body, O'-xhV1Zb X=X +un+ut+wb X=X,+RxCoordinate Transformations • Coords of pt. P wrt fixed frame O-xyz ⎥⎥⎥⎦⎤ ⎢⎢⎢⎣⎡ = zyx x • Position of P wrt coord frame fixed to rigid body, O’-x by bz b b oo b wvu wvu Rxxx btnxxx += +++= ⎥⎥⎥⎦⎤ ⎢⎢⎢⎣⎡ = ˆ ˆ ˆ x y z nˆ tˆ bˆ b x b z b y O O ′ P x o x b x