上浒文通大学 SHANGHAI JIAO TONG UNIVERSITY @=i2+(-1)+k4(rad/s) Vector cross product: r=i(-1)+j10+k2(mm), i方kijk A=iA,+jA,+kA. D=ω×r=AA,A=2-14 B=iB,+jB,+kB BB,B-1102 =i(-2-40)+j(-4-4)+k(20-1) =i(-42)+j(-8)+k(19)mm/s i k AxB= A A B. By B. AxB=i(A,B.-A.B)+j(A.B,-A,B.)+k(A B,-A,B A×B=ABsin0ω = i2 + j(−1) + k4 (rad /s). r = i(−1) + j10 + k2 (mm), Vector cross product: Ax Ay Az 2 1 4 i j k i j k υ = ω× r = = − Ax Ay Az A = i + j + k Bx By Bz ( 2 40) ( 4 4) (20 1) 1 10 2 = i − − + j − − + k − − Bx By kBz B = i + j + = i(−42) + j(−8) + k(19)mm /s i j k r v A×B = Ax Ay Az ω Bx By Bz ( ) ( ) ( ) × = AyBz − AzBy + AzBx − AxBz + k AxBy − AyBx A B i j A B× = ABsinθ