id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ap-616	Krysl, P.	Explicit Time Integrators for Nonlinear Dynamics Derived from the Midpoint Rule	2004	3	.pdf	application/pdf	2164	75	59	The initial value problem may be written in the convected description (body frame) as � �� , ( )� � � � �� � � ��skew The equation of motion is written in the spatial frame as �� � RT, where �� is the rate of the spatial angular momen- tum, and consequently the equation of motion may be written in integral form as � �� � �( ) exp [ ] ( ) ( ) ( ) ( )t t tT t t � � � � � � � � � ��skew d0 0 R R T� � � � where � �exp [ ] ( ) ( )� �skew � R RT t t0 is the incremental rota- tion through vector �.	cache/ap-616.pdf	txt/ap-616.txt