The schematic to the right shows a DC motor whose rotor and rigid attachments (modeled as a rigid body B)
spin about a horizontal axis that is fixed in a Newtonian reference N.
Righthanded orthogonal unit vectors b_{x}, b_{y}, b_{z}
are fixed in B with b_{z} horizontallyright and aligned with B's spin axis in N.
Description 
Symbol 
Type 
Armature resistance 
Rm 
Constant 
Armature inductance 
Lm 
Constant 
Motor torque constant 
km 
Constant 
B's moment of inertia about Bcm for b_{z} 
I_{zz} 
Constant 
b_{z} measure of B's angular velocity in N 
w_{m} 
Variable 
Current through motor 
i_{m} 
Variable 
Input voltage 
vi 
Specified 
The following files use both T = I a and GetDynamicsKane()
to analyze the behavior of this simple electromechanical system.

