Angular Acceleration About Z (WDTZ)
Returns a z component of the difference between the angular acceleration vectors of two coordinate system markers.
Format
WDTZ (To Marker, From Marker, About Marker, Reference Frame)
Arguments
To Marker | (Required) The coordinate system marker whose angular acceleration is being measured. |
From Marker | (Optional) The coordinate system marker whose angular acceleration is subtracted off. If you don't specify this argument, it defaults to the global origin. |
About Marker | (Optional) The coordinate system marker about whose x-axis acceleration is measured. If you don't specify this argument, it defaults to the global coordinate axis. |
Reference Frame | (Optional) The coordinate system marker in which time-derivatives are calculated. If you don't specify this argument, it defaults to the ground reference frame. |
Equation
Mathematically, WDTZ is calculated as follows:
where:
■
is the angular velocity vector of the To Marker, T, with respect to the ground reference frame.
is the angular velocity vector of the To Marker, T, with respect to the ground reference frame. ■
is the time-derivative of 
with respect to the Reference Frame, R.
is the time-derivative of with respect to the Reference Frame, R. ■
is the angular velocity vector of the From Marker, F, with respect to the ground reference frame.
is the angular velocity vector of the From Marker, F, with respect to the ground reference frame. ■
is the time-derivative of 
with respect to the Reference Frame, R.
is the time-derivative of with respect to the Reference Frame, R. ■
is the unit vector along the z-axis of the About Marker, A.
is the unit vector along the z-axis of the About Marker, A. Example
The following example returns the z component of the angular acceleration vector of marker_T, with respect to marker_F, as seen in the global coordinate system of marker_A and measured in the reference frame of marker_R:
WDTZ(marker_T, marker_F, marker_A, marker_R)