I'm working on a 3D pendulum problem with rotation matrices, which reduces to just two equations:
Omega'[t] = J^-1(J.Omega[t] x Omega[t] + M[t])
where M[t] is an expression involving R[T], J is the constant inertia matrix, and the dynamical variables are Omega[t], a vector, and R[t] a 3x3 matrix.
I would like to enter these expressions directly into NDSolve, but I can't seem to come up with anything that works ... I have to break it down into 12 equations.
Any suggestions would be appreciated.
I'm using version 6.0.1, 32 bit Windows.