Journal of Applied and Physical Sciences
Journal ISSN: 2414-3103
Article DOI:
Received: 22 December 2016
Accepted: 26 February 2017
Published: 30 June 2017
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  • Calculation of angular velocity, angular acceleration and torque of two common point rigid bodies using IMU

Dler Salih Hasan, Ibrahim Hamarash

Article first published online: 2017


The aim of this study is to calculate the angular velocity, angular acceleration, and torque of two rigid bodies that share a common point using instantaneous sensor measurements. The goal of this approach is to produce outcome measurements free from accumulated error. IMU sensors and accelerometers have been used to capture real-time data. This arrangement is applicable to cases such as when the bodies are connected by a ball-and-socket joint, a Hooke joint, or a revolute joint especially where it is impractical to use a joint measurement sensor between the bodies such as measuring the relative motion of human limbs. The proposed system has been designed, built and tested in lab which showed satisfactory results.