Dynamic analysis of an unrestrained, rotating structure through nonlinear simulation

An alternate derivation based on Hamilton's principle of equations of motion of a flexible body for use in nonlinear simulation modeling is presented. The equations include terms representing variation in the inertial properties of the body resulting from flexibility as well as terms coupling rigid body and flexible momenta that arise from satisfaction of only the linear part of the mean axis conditions. An approximate method for including the centrifugal stiffening in a way that permits a variable spin vector is given. The equations are exercised in a simulation program on an example structure initially spinning about its unstable principal axis in a gravity-free vacuum.