Total Force on Body in Rotating Frame of Reference

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Theorem

Let $B$ be a body in a rotating frame of reference $\FF$.

The total force $\mathbf {F'}$ on $B$ is given by:

\(\ds \mathbf {F'}\) \(=\) \(\ds \mathbf F - m \dfrac {\d \bsomega} {\d t} \times \mathbf {r'} - 2 m \bsomega \times \mathbf {v'} - m \bsomega \times \paren {\bsomega \times \mathbf {r'} }\)
\(\ds \) \(=\) \(\ds m \mathbf {a'}\)

where:

$\mathbf F$ is the vector sum of the forces acting on $B$
$\bsomega$ is the angular velocity of $\FF$ relative to an inertial frame
$\mathbf {r'}$ is the position vector of $B$ relative to $\FF$
$\mathbf {v'}$ is the velocity of $B$ relative to $\FF$
$\mathbf {a'}$ is the acceleration of $B$ relative to $\FF$.


The inertial forces as they are perceived in the rotating frame of reference $\FF$ are:

\(\ds \) \(\) \(\ds -m \dfrac {\d \bsomega} {\d t} \times \mathbf {r'}\) the Euler force
\(\ds \) \(\) \(\ds -2 m \bsomega \times \mathbf {v'}\) the Coriolis force
\(\ds \) \(\) \(\ds -m \bsomega \times \paren {\bsomega \times \mathbf {r'} }\) the centrifugal force


Proof




Sources