Non-inertial torques and the Euler equation

TL;DR

This paper demonstrates that the Euler equation for rigid body rotation can be derived from a non-inertial frame perspective by explicitly calculating the non-inertial torques, providing a new viewpoint on rotational dynamics.

Contribution

It introduces a derivation of the Euler equation using non-inertial torques, expanding the understanding of rotational dynamics from a non-inertial frame perspective.

Findings

Non-inertial torques can be explicitly calculated in terms of physical characteristics.

The Euler equation is exactly recovered when non-inertial torques are included.

The approach offers a new perspective on rigid body rotational dynamics.

Abstract

The fundamental equation describing the rotational dynamics of a rigid body is ${\vec \tau}=d{\vec L} / dt$ which is a straightforward consequence of the Newton's second law of motion and is only valid in an inertial coordinate system. While this equation is written down by an inertial observer, for practical purposes, it is worked out within a non-inertial ancillary coordinate system which is typically fixed in the rigid body. This results in the famous Euler equation for rotation of the rigid bodies. We show that it is also possible to describe the rotational dynamics of a rigid body from the point of view of a non-inertial observer (rotating with the ancillary coordinate system fixed in the rigid body), provided that the non-inertial torques are taken into account. We explicitly calculate the non-inertial torques and express them in terms of physical characteristics of the rigid body. We show that the resulting dynamical equations exactly recover the Euler equation.