1.) The Enterprise:
Mass of G (for rider) = 70 kg
Rope length L2 (PG) = 2 m
Wheel radius r (OP) = 8 m
θ = 1.4 radians (80°)
Wheel spin rate ws = -1.6 rads/sec
Precession rate wp = 0 rads/sec
Arm length L1 (AO) = 0 m
2.) The Spin Out:
Precession rate wp1 = -0.8 rads/sec
Precession rate wp2 = 0 rads/sec
Wheel spin rate ws = -1.6 rads/sec
Elbow CBO spin rate wa = 0.5 rads/sec
Arm length L1 (AC) = 6 m
Arm length L2 (CB) = 6 m
Arm length L3 (BO) = 1 m
Wheel radius r (OP) = 4 m
θ = 1.2 rads (70°)
dθ/dt = 0
ϕ = 3.14159 rads (180°)
ψ = 1.57079 rads (90°)
Gravity is pointing in direction 6 (the -z direction)
3.) The Orbiter:
Precession rate wp1 = -1.6 rads/sec
Precession rate wp2 = 0 rads/sec
Wheel spin rate ws = -0.8 rads/sec
Arm length L1 (AC) = 4 m
Arm length L2 (CO) = 2 m
Wheel radius r (OP) = 2 m
θ = 1.9 radians (110°)
dθ/dt = 0
ϕ = 0.35 (20°)
Gravity is pointing in direction 6 (the -z direction)
