Space-Fixed Frame
In the Solid Rotor, Fixed Frame interface equations are modeled in a space-fixed frame. However, additional acceleration terms due to the rotation also contribute to the virtual work. The additional contribution is
where
In the above, Rrig is the rotation matrix due to a rigid body motion and R is the rotation matrix corresponding to corotational motion. Similarly, Wrig and W are the angular velocity tensors corresponding to rigid body motion and corotational motion, respectively. These are given by: