crossp

This function calculates the cross product of a velocity/acceleration with an i and j vector.

This function takes a vector in the k direction and cross multiplies with a vector in the i and j direction. It performs k x i and k x j and return a vector in terms of i and j.

Calling the function:

x = crossp(A, B)

where A is the angular velocity/acceleration, and B is the i and j vector.

Vector A can be positive or negative.

Vector B must be represented as a 1x2 vector with column 1 being the i component and column 2 being the j component. i.e B = [ i , j ].

If your direction is negative, i.e. -i, -j and -k, you must bring the negative to the front of the number.

Example:

v = 25(-i) + 34(-j) = -25i - 34j

If your vector is only in the i or j direction, put 0 for the other term.

Example:

v = 50j

The input would be:

v = [0, 50]