Exact analytic solutions for the rotation of an axially symmetric rigid body subjected to a constant torque

New exact analytic solutions are introduced for the rotational motion of a rigid body having two equal principal moments of inertia and subjected to an external torque which is constant in magnitude. In particular, the solutions are obtained for the following cases: (1) Torque parallel to the symmetry axis and arbitrary initial angular velocity; (2) Torque perpendicular to the symmetry axis and such that the torque is rotating at a constant rate about the symmetry axis, and arbitrary initial angular velocity; (3) Torque and initial angular velocity perpendicular to the symmetry axis, with the torque being fixed with the body. In addition to the solutions for these three forced cases, an original solution is introduced for the case of torque-free motion, which is simpler than the classical solution as regards its derivation and uses the rotation matrix in order to describe the body orientation. This paper builds upon the recently discovered exact solution for the motion of a rigid body with a spherical ellipsoid of inertia. In particular, by following Hestenes’ theory, the rotational motion of an axially symmetric rigid body is seen at any instant in time as the combination of the motion of a “virtual” spherical body with respect to the inertial frame and the motion of the axially symmetric body with respect to this “virtual” body. The kinematic solutions are presented in terms of the rotation matrix. The newly found exact analytic solutions are valid for any motion time length and rotation amplitude. The present paper adds further elements to the small set of special cases for which an exact solution of the rotational motion of a rigid body exists.     

Planetary and figure-figure effects on the moon's rotational motion

An accurate theory of the rotation of the Moon has been constructed by numerical integration. All direct perturbations on the Moon's rotational motion have been analysed. The requirements of the current observational accuracy are such that some improvements had to be added to the theoretical models. First, the gravitational figure of the Moon has been developed up to the fifth degree harmonics. Second, mutual potential effects between the figure of the Moon and the figure of the Earth have been expanded farther up. The direct action of planets must be taken into account, its effects being very small but not always negligible. The physical librations resulting of planetary effects and Earth-Moon figure-figure interactions are presented in this paper.     

Orientation of the moon by numerical integration

The differential equations of rotational motion of the Moon are solved by numerical integration methods. Euler's dynamical equations transformed to a convenient form are treated by techniques analogous to ordinary orbit determination procedures. The proposed method is fully consistent with the ephemeris of the Moon and can utilize a variety of observational material for the solution of the selected parameters. The parameters are grouped into three distinct groups, namely:

--The physical libration angles of the Moon and their time rates at an arbitrary initial epoch.

--Physical constants featuring the principal moments of ineria of the Moon.

--Parameters associated with the particular observational material being used.

Examples are given of comparison between the proposed method and Eckhardt's 1970 model of the physical librations of the Moon. The merits of the new method are discussed in the light of conventional data sources like Earth-based or satellite-based photography as well as newly available data types like Laser ranging to retroreflectors on the Moon.     

Lunar and terrestrial tidal effects on the Moon's rotational motion

An accurate model of the rotation of the Moon, constructed by numerical integration, has been presented in a previous paper. All direct perturbations capable of producing at least 10^–4 seconds of arc on the Moon's rotational motion have been included, and the physical librations resulting from planetary effects and Earth-Moon figure-figure interactions have been presented. The present study deals with the Moon's physical librations resulting from the non-rigidities of the Moon and the Earth. The effects of the Moon's elasticity and of a lunar phase lag are analyzed. Physical librations due to lunar tides and those due to terrestrial tides are presented and described.     

Literal solution for Hill's lunar problem

A computer program for the manipulation of power series in several variables is used to find the first order solution to Hill's lunar problem. The ratiom of the mean motion of the Sun to that of the Moon is kept as a formal parameter. The series inm are known to converge very poorly. It is shown how efficient algorithms among them the Lie transformation allow us to compute the series inm as far as they are needed. When the series are evaluated at Brown's numerical value form the results achieve or exceed his accuracy.     

Analytical lunar libration tables

We have developed a theory of the rotation of the Moon, for the purpose of obtaining libration series explicitly dependent upon lunar gravitational field model parameters. A nonlinear model is used in which the rigid Moon, whose motion in space is that of the main problem of lunar theory, and whose gravity potential is represented through its third degree harmonics, is torqued by the Earth and Sun. The analytical series are then obtained as Poisson series. Numerical comparisons with Eckhardt's solution are briefly exposed.     

Extension of Cassini's Laws

We investigate the Cassini's laws which describe the rotational motion in a 1:1 spin-orbit resonance. When this rotational motion follows the conventional Cassini's laws, the figure axis coincides with the angular momentum axis. In this case we underline the differences between the rotational Hamiltonian for a 'slow rotating' body like the Moon and for a 'fast rotating' body like Phobos. Then, we study a more realistic rotational Hamiltonian where the angle J between the figure axis and the angular momentum axis could be different from zero. This Hamiltonian has not been studied before. We have found a new particular solution for this Hamiltonian which could be seen as an extension of the Cassini's laws. In this new solution the angle J is constant, which is not zero, and the precession of the angular momentum plane is equal to the mean motion of the argument of pericenter of the rotating body. This type of rotational motion is only possible when the orbital eccentricity of the rotating body is not zero. This new law enables describing in particular, the Moon mean rotational motion for which the mean value of the angle J is found to be equal to 103.9±0.7 s of arc.     

The decay of the large-scale solar magnetic field

In the absence of new bipolar sources of flux, the large-scale magnetic field at the solar photosphere decays due to differential rotation, meridional flow, and supergranular diffusion. The rotational shear quickly winds up the nonaxisymmetric components of the field, increasing their latitudinal gradients and thus the rates of diffusive mixing of their flux. This process is particularly effective at mid latitudes, where the rotational shear is largest, so that eventually low- and high-latitude remnants of the initial, nonaxisymmetric field pattern survive. In this paper I solve analytically the transport equation describing the evolution of the large-scale photospheric field, to study its time-asymptotic behavior. The solutions are rigidly rotating, uniformly decaying distributions of flux, wound up by differential rotation and localized near either the equator or the poles. A balance between azimuthal transport of flux by the rotational shear and meridional transport by the diffusion gives rise to the rigidly rotating field patterns. The time-scale on which this balance is achieved, and also on which the nonaxisymmetric flux decays away, is the geometric mean of the short time-scale for shearing by differential rotation and the long time-scale for dispersal by supergranular diffusion. A poleward meridional flow alters this balance on its own, intermediate time-scale, accelerating the decay of the nonaxisymmetric flux at low latitudes. Such a flow also hastens the relaxation of the axisymmetric field to a modified dipolar configuration.     

Exact analytic solution for the rotation of a rigid body having spherical ellipsoid of inertia and subjected to a constant torque

The exact analytic solution is introduced for the rotational motion of a rigid body having three equal principal moments of inertia and subjected to an external torque vector which is constant for an observer fixed with the body, and to arbitrary initial angular velocity. In the paper a parametrization of the rotation by three complex numbers is used. In particular, the rows of the rotation matrix are seen as elements of the unit sphere and projected, by stereographic projection, onto points on the complex plane. In this representation, the kinematic differential equation reduces to an equation of Riccati type, which is solved through appropriate choices of substitutions, thereby yielding an analytic solution in terms of confluent hypergeometric functions. The rotation matrix is recovered from the three complex rotation variables by inverse stereographic map. The results of a numerical experiment confirming the exactness of the analytic solution are reported. The newly found analytic solution is valid for any motion time length and rotation amplitude. The present paper adds a further element to the small set of special cases for which an exact solution of the rotational motion of a rigid body exists.     

Numerical models for the study of motion of lunar satellites

The present study deals with numerical modeling of the elliptic restricted three-body problem as well as of the perturbed elliptic restricted three-body (Earth-Moon-Satellite) problem by a fourth body (Sun). Two numerical algorithms are established and investigated. The first is based on the method of the series solution of the differential equations and the second is based on a 5th-order Runge-Kutta method. The applications concern the solution of the equations and integrals of motion of the circular and elliptical restricted three-body problem as well as the search for periodic orbits of the natural satellites of the Moon in the Earth-Moon system in both cases in which the Moon describes circular or elliptical orbit around the Earth before the perturbations induced by the Sun. After the introduction of the perturbations in the Earth-Moon-Satellite system the motions of the Moon and the Satellite are studied with the same initial conditions which give periodic orbits for the unperturbed elliptic problem.     

A semi-analytical method to study perturbed rotational motion

A semi-analytical method is presented to study the system of differential equations governing the rotational motion of an artificial satellite. Gravity gradient and non gravitational torques are considered. Operations with trigonometric series were performed using an algebraic manipulator. Andoyer's variables are used to describe the rotational motion. The osculating elements are transformed analytically into a mean set of elements. As the differential equations in the mean elements are free of fast frequency terms, their numerical integration can be performed using a large step size.     

Comparison and analysis on lunar rotation with lunar gravity field models

Understanding the structure of and dynamic processes in the deep interior of planets is crucial for understanding their origin and evolution. An effective way to constrain them is through observation of rotation and subsequent simulation. In this paper, a numerical model of the Moon’s rotation and orbital motion is developed based on previous studies and implemented independently. The Moon is modeled as an anelastic body with a liquid core. The equations of the rotation were nonlinear and the Euler angles are cross coupled. We solve them numerically via the Runge-Kutta-Fehlberg (RKF) and multi-steps Adams-Bashforth-Moulton (ABM) predictor-corrector numerical integration. We have found that adequate accuracy is maintained by taking twelve steps per day using eleventh differences in the integrating polynomial. The lunar orbital and rotational equations are strongly coupled, so we integrated the rotation and motion simultaneously. We refer to other planetary informations from the newest planetary and lunar ephemeris INPOP17a, which is reported had fitted the longest LLR (Lunar Laser Ranging) observation data. Using the model GL660B from GRAIL (Gravity Recovery and Interior Laboratory) mission, we firstly compare our numerical results with the INPOP17a to prove the reasonability of our model. After that we apply the lunar gravity model CEGM02 determined from Chang’E-1 mission and SGM100h from SELENE mission to our model, the difference between results from CEGM02 and GL660B are less than \(-0.20 \sim0.15\) arc-second, and \(-0.25 \sim0.20\) arc-second for GL660B and SGM100h. Compared to SGM100h, the results show that the low degree and order coefficients (less than 6 from this paper) of lunar gravity field were improved in CEGM02 as expected. It is the first time to demonstrate that these models can be applied to lunar rotation model. These results manifest that a development of the gravity field measure will help us to know the rotation motion more precisely.     

月球探测器过渡轨道的短弧定轨方法

论述的短弧定轨,是指在无先验信息情况下又避开多变元迭代的初轨计算方法,它需要相应的动力学问题有一能反映短弧内达到一定精度的近似分析解．探测器进入月球引力作用范围后接近月球时可以处理成相对月球的受摄二体问题,而在地球附近,则可处理成相对地球的受摄二体问题,但在整个过渡段的力模型只能处理成一个受摄的限制性三体问题．而限制性三体问题无分析解,即使在月球引力作用范围外,对于大推力脉冲式的过渡方式,相对地球的变化椭圆轨道的偏心率很大(超过Laplace极限),在考虑月球引力摄动时亦无法构造摄动分析解．就此问题,考虑在地球非球形引力(只包含J2项)和月球引力共同作用下,构造了探测器飞抵月球过渡轨道段的时间幂级数解,在此基础上给出一种受摄二体问题意义下的初轨计算方法,经数值验证,定轨方法有效,可供地面测控系统参考．     

The improvement of the lunar ephemeris

At present the fundamental lunar ephemeris is based on Brown's theory of the motion of the Moon with improvements based on the bypassing of Brown's Tables, the removal of the great empirical term, the substitution of the relevant constants of the IAU system of astronomical constants and the retransformation of Brown's series in rectangular coordinates to spherical coordinates. Even so this ephemeris does not represent adequately the recent range and range-rate radio observations, and it will be inadequate for use in the analysis of laser observations of corner reflectors on the Moon. Numerical integrations for these purposes have already been made at the Jet Propulsion Laboratory, but improved theoretical developments are also required; new solutions of the main problem are in hand elsewhere. Work at H.M. Nautical Almanac Office is aimed at obtaining improved values of the constants of the lunar orbit by a rediscussion of occultation observations made since 1943 and at the redevelopment of the series for the planetary perturbations using more precise theories of the motion of the Sun and planets. The techniques and preliminary results of exploratory numerical integrations were briefly described.Presented at the Conference on Celestial Mechanics, Oberwolfach, Germany, 17–23 August, 1969.     

Effect of the Earth’s compression on the physical libration of the Moon

The effect of the Earth??s compression on the physical libration of the Moon is studied using a new vector method. The moment of gravitational forces exerted on the Moon by the oblate Earth is derived considering second order harmonics. The terms in the expression for this moment are arranged according to their order of magnitude. The contribution due to a spherically symmetric Earth proves to be greater by a factor of 1.34 × 10⁶ than a typical term allowing for the oblateness. A linearized Euler system of equations to describe the Moon??s rotation with allowance for external gravitational forces is given. A full solution of the differential equation describing the Moon??s libration in longitude is derived. This solution includes both arbitrary and forced oscillation harmonics that we studied earlier (perturbations due to a spherically symmetric Earth and the Sun) and new harmonics due to the Earth??s compression. We posed and solved the problem of spinorbital motion considering the orientation of the Earth??s rotation axis with regard to the axes of inertia of the Moon when it is at a random point in its orbit. The rotation axes of the Earth and the Moon are shown to become coplanar with each other when the orbiting Moon has an ecliptic longitude of L _? = 90° or L _? = 270°. The famous Cassini??s laws describing the motion of the Moon are supplemented by the rule for coplanarity when proper rotations in the Earth-Moon system are taken into account. When we consider the effect of the Earth??s compression on the Moon??s libration in longitude, a harmonic with an amplitude of 0.03?? and period of T ₈ = 9.300 Julian years appears. This amplitude exceeds the most noticeable harmonic due to the Sun by a factor of nearly 2.7. The effect of the Earth??s compression on the variation in spin angular velocity of the Moon proves to be negligible.     

Generation of a secular system in the analytical theory for the motion of the moon

In order to generate an analytical theory of the motion of the Moon by considering planetary perturbations, a procedure of general planetary theory (GPT) is used. In this case, the Moon is considered as an addition planet to the eight principal planets. Therefore, according to the GPT procedure, the theory of the Moon’s orbital motion can be presented in the form of series with respect to the evolution of eccentric and oblique variables with quasi-periodic coefficients, which are the functions of mean longitudes for principal planets and the Moon. The relationship between evolution variables and the time is determined by a trigonometric solution for the independent secular system that describes the secular motion of a perigee and the Moon node by considering secular planetary inequalities. Principal planetary coordinates required for generating the theory of the motion of the Moon includes only Keplerian terms, the intermediate orbit, and the linear theory with respect to eccentricities and inclinations in the first order relative to the masses. All analytical calculations are performed by means of the specialized echeloned Poisson Series Processor EPSP.     

An Estimate on the Lunar Figure

In 1799 Laplace discovered that the three principal moments of the Moon are not in equilibrium with the Moon's current orbital and rotational state. Some authors suggested that the Moon may carry a fossil figure. More than 3 billion years ago, the liquid Moon was closer to the Earth and revolved faster. Then the Moon migrated outwards and its rotation slowed down. During the early stage of this migration, the Moon was continually subjected to tidal and rotational stretching and formed into an ellipsoid. Subsequently the Moon cooled down and solidified quickly. Eventually, the solid Moon's lithosphere was stable and as a result we may see the very early lunar figure.     

Comments on ‘the origin of the Earth—Moon system’

The main points are presented of a new hypothesis of the origin of the Earth—Moon system, developed on the basis of Savi's (1961) theory of the origin of rotation of celestial bodies. The cooling off and contraction due to gravitational attraction on vast particle systems, with the pushing out of electrons from atom shells result in a continually increasing density. Depending on the amount of mass, this pushing out can lead to the expulsion of electrons and the creation of a magnetic field by which a rotational motion is brought about. These conditions are satisfied for the Earth's mass and all larger masses. If the Earth and the Moon formed a unique body, the protoplanet, then once rotational motion had begun, the primeval spherical body must have taken the shape of a large Jacobi ellipsoid. New condensation followed, however no longer solely around the centre of the protoplanet, but also along the edge of the ellipsoid, the process leading to the creation of the dual Earth—Moon system.     

Planetary perturbations on the Libration of the Moon

A theory of the libration of the Moon, completely analytical with respect to the harmonic coefficients of the lunar gravity field, was recently built (Moons, 1982). The Lie transforms method was used to reduce the Hamiltonian of the main problem of the libration of the Moon and to produce the usual libration series p₁, p₂ and . This main problem takes into account the perturbations due to the Sun and the Earth on the rotation of a rigid Moon about its center of mass. In complement to this theory, we have now computed the planetary effects on the libration, the planetary terms being added to the mean Hamiltonian of the main problem before a last elimination of the angles. For the main problem, as well as for the planetary perturbations, the motion of the center of mass of the Moon is described by the ELP 2000 solution (Chapront and Chapront-Touze, 1983).     

Axial rotation, orbital revolution and solar spin–orbit coupling

The orbital motion of the Sun has been linked with solar variability, but the underlying physics remains unknown. A coupling of the solar axial rotation and the barycentric orbital revolution might account for the relationships found. Some recent published studies addressing the physics of this problem have made use of equations from rotational physics in order to model particle motions. However, our standard equations for rotational velocity do not accurately describe particle motions due to orbital revolution. The Sun's orbital motion is a state of free fall; in consequence, aside from very small tidal motions, the associated particle velocities do not vary as a function of position on or within the body of the Sun. In this note, I describe and illustrate the fundamental difference between particle motions in rotation and revolution, in order to dispel some part of the confusion that has arisen in the past and that which may yet arise in the future. This discussion highlights the principal physical difficulty that must be addressed and overcome by future dynamical spin–orbit coupling hypotheses.