Errata List for the AIAA Education Series Text Book

Analytical Mechanics of Space Systems

1st Edition, 1st Printing

authored by H. Schaub & J. L. Junkins

Last updated on September 30, 2005

This file contains various typos that were found in the first printing of the 1st edition of the text
book. Please use this page to update your book copy. A 2nd printing has not been released which
fixes many of these typos. This first printing errata sheet is no longer updated! A 2nd
printing errata sheet contains any typos which were found after the deadline for the 2nd printing.
If you find typos that are not listed in this errata document, check the errata2.pdf document to
see if it contains your error. If not, please contact the author at [email protected] and email the typo
type, as well as the typo location within the manuscript. A revision history is provided at the end
of the document.

p. 30, Eq. (2.6): VG (r12 ) = Gm 1 m2 Gm1 m2

|r12 | = r12

=L
p. 41, After Eq. (2.37)): strike the statement or r = rp . The only condition for H
for a particle is that rp is inertial (non-accelerating).
p. 41, first equation in Ex. 2.6:): Missing a dot on , should read E/N = e3 = n
3

p. 45, Eq. (2.47): c = )

The letter c on the LHS should be a subscribt (i.e. M R
p. 58, 8th line after Section 2.6: change the word aftward to backwards
p. 58, Section 2.6, 2nd paragraph: change text to . . . we utilize Eq. (2.72) or (2.93), which
state . . .
p. 85, Ex. 3.2: The final 3-2-1 Euler angles are incorrect. They should be = 0.933242o ,
= 72.3373o , and = 79.9635o .
p. 96, Eq. (3.92): The top right entry of this matrix is missing an opening bracket. It
should read 2(1 3 0 2 ).
p. 122, Eq. (3.197): Should read [N B]1 =

p. 131, first equation in Ex. 4.1: Missing a dot on , should read = L

r

p. 133, Example 4.1: After the first equation on the top of p. 133, change the text to:
The normal force is defined as N = N e3 , and the gravity force is given by Fg = mg e3 .
Note that at the hinge point only the torques = e and 3 = 3 e3 are applied. The
external torque about point O is

LO = Rc (Rc + N ) + + 3 = (L(mg N ) + ) e + 3 e3

1
 Note that by taking the moments about point O the reaction forces of the pin joint O do not
O = LO and equating vector components, we find
appear. Using Eulers equation H
Is 2
N = mg + +
r
3 = 0

To express , we compute all moments and torque about the disk center of mass and find
L e3
Hc = [Ic ]B/N = Is eL + It
r
Lc = Ff reL e 3 e3

where Ff is the frictional force at the contact point which causes the disk rotation. Using
3 = 0 and H c = Lc , we find

Ff = 0
L
= Is 2
r
Note that if were not 0, then we would have a non-zero Ff term. Finally, the normal force
magnitude is expressed as
Is
N = mg + 2
r
The polar moment of inertia of a circular disk of mass m and radius r is
m 2
Is = r
2
which allows N to be written as
 
N = m g + r 2

p. 140, Ex. 4.3, 2nd equation from bottom: Should read rc = (R + r)2 er + (R + r)e

p. 142, sentence before Eq. 4.56: Strike one of the the words. Should read Let us write
the angular momentum...

p. 147, Fig 4.7: The sepratrix arrow directions were corrected, as shown in Fig. 1 of this
document.

p. 148, Eq. (4.68): missing a negative sign. Should read = H n

3 =

p. 156, Eq. 4.102: W =

Missing a subscript W. Should read H

p. 157, Eq. 4.110: In the last term of this equation, the subscript is wrong. It should read
+ (Jt Js )s t gg

p. 161, Eq. 4.126: The last line of this equation should read
   2 !
1 Rc r 3 rr 15 Rc r
3 13 + +
Rc Rc2 2 Rc2 2 Rc2

2
 Maximum
H3 Energy
H2
T > H2
2I2 T =
2I3

H2
T =
2I2

H2 Sepratrix
T <
2I2

H1
H2
Minimum
Energy
H2
T =
2I1

Figure 1: (Fig. 4.7) A Family of Energy Ellipsoid and Momentum Sphere Intersections

p. 162, last sentence before Eq. 4.127: Change to Substituting up to first order terms of
Eq. (4.126) into Eq. (4.125) yields

p. 162,
R Eq. 4.130: Missing brackets around r Rc . Should read
B (r (r Rc ) + (r r)Rc ) dm

p. 162, Eq. 4.132: Missing an equal sign right after the vector LG .

p. 163, sentence before Eq. 4.136: . . . the resulting product, dropping terms higher than
2nd order results in the gravity force vector FG being expressed as

p. 163, Eq. 4.136: change equation to:

"Z Z Z Z
GMe 3 3
FG = 3 rdm 3 (r Rc )rdm + Rc dm 2 (Rc r)Rc dm
Rc B Rc B B Rc B
Z Z #
3 15
Rc (r r)dm + (Rc r)2 Rc dm
2Rc2 B 2Rc4 B

p. 163, paragraph prior to Eq. 4.137: Change to Note that the first and last term in the
...

p. 163, Eq. 4.137: Change equation to:

" Z  Z
GMe 3 2
 3
FG = 3 mRc 2 r (r Rc ) + r Rc dm r2 Rc dm
Rc Rc B 2Rc2 B
Z #
15  
+ Rc r (r Rc ) + r2 Rc Rc dm
2Rc4 B

3
 p. 164, top of page: delete the text where the last term in the parenthesis is zero due to
the definition of the center of mass.

p. 164, top of page: Change 2nd sentence to Using the definition of the inertia matrix in
Eq. (4.14), as well as r = Rc /Rc and B r2 dm = 21 tr([I]), the gravity force vector of a rigid
R

...

p. 164, Eq. 4.138: Change equation to

" !#
m 3 1 
FG = 3 1 + [I] + tr([I]) 5(Tr [I]r ) [I33 ] Rc
Rc mRc2 2

p. 169, Eq. 4.165, 4.167 and Fig. 4.12 the Y and R index got reverse here in the text.
Eq. 4.165 should read (1 + 3kY + kY kR )2 > 16kY kR , while Eq. 4.167 should read kR < kY . A
corrected figure is shown in Figure 2.

1.0

kR kY < 0 kY < kR
0.5

(1 + 3kY + kR kY )2 < 16kY kR

Region I
kR 0.0

Region II
-0.5

kR kY < 0
-1.0
-1.0 -0.5 0.0 0.5 1.0
kY

Figure 2: (Fig. 4.12) Linearized Gravity Gradient Spacecraft Stability Regions

p. 170, 5th line after Eq. 4.168): Omega should be greek letter .

p. 187, Eq. (5.35): The 4 times that m occurs in these two equations, we need to replace m
with m2 .

p. 187, E. (5.37), 2nd line, last term: Replace m with m2 .

p. 189, before Eq. (5.46): Missing brackets around vector cross products, should read a (b
c) = (b a) c.
h i
p. 266, before Eq. (7.6): The second term within the {. . . } brackets should read L q

qi i

p. 266, before Eq. (7.7): The term qi is missing after the {. . . } brackets.

p. 270, before Eq. (7.24): Please replace px with py .

4
 p. 276, Eq. (7.55): The right hand side of this equation should read F (q, q,
t).

p. 276, Eq. (7.57): p = [B(q, t)]q The double-dot should be a single dot over q.
h i
F
p. 277, Eq. (7.60): qj .
q,p

p. 307, 3rd line from top of page: should read V V

p. 315, Eq. (8.40): Should read p = H q + Q

   
p. 329, Eq. (8.87): = 2K 2 T [I]1 [P ] [I]1
   
p. 333, Eq. (8.105): = 2K 2 T [I]1 [P ] [I]1

p. 334, Eq. (8.108): lim z = [KI ]1 [P ]1 L

t

gsi gtTi + gti gsTi ). The transpose on

p. 355, Eq. (8.174): Last bracket term should read (
the 2nd gti should be removed.

p. 396, Ex. 9.1: After integrating both sides of this equation over one orbit, and recognizing
that the right-hand side computes twice the area A of an ellipse . . .

p. 397, before Eq. (9.70): with the kinetic energy rate expressed as

p. 397, Eq. (9.72): r r = = V

r r
1
p. 397, Eq. (9.75): 2r r = r + 2

p. 397, before Eq. (9.76): For the special case in which m2 << m1 , . . .

p. 384, Table 9.1: Perigree should be Perigee

rp4 p2
p. 398, Eq. (9.78): vp2 = rp2 p2 = rp2

p. 399, Table 9.2: The value of Pluto should be updated to 8.476 102 km3 /s2 , about 500
times smaller than Earths value.

p. 400, before Eq. (9.84): Sometimes it is convenient . . . and v = r respectively.

q Rf

p. 405, Eq. (9.95): (t t0 ) = f01 (1+edf
p3 1 cos f )2

p. 408, Eq. (9.107): x = a sinh (H)H

p. 408, Eq. (9.108): y = a e2 1 cosh (H)H
q

p. 408, Eq. (9.109): = 1r a

p. 410, after Eq. (9.122): To find the initial mean anomaly M0 , we define = r r , . . .

p. 410, after Eq. (9.125): By making use of the numerical function atan2(x, y), . . .
p 
p. 415, Eq. (9.145): Missing square root here. Should read i = 2 tan1 Q21 + Q22

5
 p. 419, Eq. (9.180): Should read F G GF = 1

p. 421, Ref 7: Broucke, R.A., and Cefola, P.J. . . .

p. 421, Problem 9.4: Verify that Eq. (9.132) is indeed the derivative of Eq. (9.131)

p. 431432, Eq2. (10.4244), (10.4849), (10.5051): Need to multiply the right hand side of
these equations by the gravitational constant G.

p. 442, 2nd line after Eq. (10.76): Should read Think of C as a relative energy measure.

p. 443, 1st line after Eq. (10.83): Sentence should read Using Eqs. (10.81) and (10.83) we
are . . .
U
p. 443, Eq. (10.86): Right hand side should be x , not U
x . Same for
U
y and U
z .

p. 453, Eq. (10.97): The left hand side of this equation should have the a replaced with .

p. 453, After Eq. (10.97): Make = (0, 0, 1)T

p. 454, Eq. (10.101): Replace F with [F ]. This is equation should yield a 3x3 matrix, not a
vector.

p. 454, Eq. (10.101): The 51 term should be 31 . (first line, in the denominator)

p. 455, Eq. (10.109): Equation should read = E

p. 468, Eq. (11.9): Add the condition for k 6= 0.

p. 470, Eq. (11.19): Left hand side of this equation should read term 3.
1
p. 473, Eq. (11.36): Unclear typesetting, this should read = (1 2 ) 2 j , or simply
= (1 2 )j/2

p.481, x component of Eq. (11.67) should be identical to the y component:

z

z 3



z 5 x
3 35 r 210 r + 231 r r

p. 487, After Eq. (11.80) change the Table reference from 9.3 to Table 9.2

p. 487, Table 11.1: Earth sphere of influence should be 925,000 (listed as 916,600)

p. 487, Table 11.1: Pluto sphere of influence should be 3,120,000 (due to updated value of
in Table 9.2)
e E
p. 505, Eq. (12.69): 2nd line of the 3x1 matrix. The term should be
a a
p. 510, Eq. (12.86c): This equation should read:

d 3 a3  req 2 h  p  1
= J2 n 3 e + cosf 1 + e cosf + 4e cos2 i 3e(3 + cos 2f ) sin2 i
dt 2 eb r r 2
 p2 i
+ cosf (3 e2 + (3 + 5e2 ) cos(2i) + 6e2 sin2 f sin2 i) sin2 2 sinf sin2 i sin(2)
r

6
 p. 510, Eq. (12.86e): Last term has the closing bracket off. This equation should read:

de 3 a2  req 2 h p
= J2 n sin f (1 3 sin2 sin2 i)
dt 2 br r r i
+ (e + cos f (2 + e cos f )) sin(2) sin2 i

p. 510, Eq. (12.86f): This equation should read:

dM0 3 a2  req 2 h 2 p
= J2 n 2 ( cosf e sin2 f )(3 sin2 i sin2 1)
dt 2 eb r r
p2 i
+ 2 sinf sin2 i sin(2)
r

R R
p. 512, Eq. (12.95): The term should be
s e
f
p. 516, Eq. (12.120): The left hand side of this equation should read reh =
v
p. 520, Eq. (12.145): The first fraction
 to the right of the equal sign should be 1/h. The
de 1
final equation will read as dt = h

p. 520, After Eq. (12.145): Change sentence to After making use of the orbit equation in
Eq. (9.6) and the semi-latus rectum relation in Eq. (9.9), the eccentricity . . .

p. 522, Eq. (12.156): Change equation to a = ar r + a + ahh = ann + av v + ahh

p. 541, Problem 12.1 In the problem statement, change the equation reference from 11.57
to 11.64.

p. 542, Problem 12.8 Remove the word optimal

p. 557, Fig 13.7: t = t + (1 )t

p. 567, Ex. 13.3: This corresponds to a maximum out-of-plane separation from the original
orbit of 97.92km.

p. 573, Ex. 13.5: The Mars mean orbit rate value should be n4 = 0.523814 deg/day

p. 575, Fig. 13.16 Redrew the transfer orbit to make it more realistic.
r  
p. 582, Eq. (13.88): v2 = 2S r12 r13 + v12
p
p. 582, Eq. (13.93): 2 = v22 + v22 2v2 v2 cos 2
r
d2 4
p. 584, Eq. (13.100): e = 1 + a2 2
4
p
p. 588, Eq. (13.109): v3 = 32 + v22 + 23 v2 cos 3

p. 590, Fig. P13.1 Redrew the transfer orbit to make it more realistic.

p. 591, Fig. P13.3 Redrew the transfer orbit to make it more realistic.

7
 t2

f
2
r
f
f t2

r
v
t1 t1
v1

(t1 )

Figure 3: (Fig. 13.16) Non-Minimum Energy Transfer Orbit Illustration between Earth and
Mars

F 2
r
f
t2

t1 1

Figure 4: (Fig. P13.1) Earth to Mars Transfer Orbit Illustration

p. 634, Eq. (14.153): a = 2Da

8
 r2

r1

Figure 5: (Fig. P13.3) Earth-Relative Two-Point Boundary value problem

p. 640, Fig. 14.10(b): Should read a = 2Da.

p. 650, Eq. (14.191): Remove the transpose on the partial derivative matrix [/eosc ].
1+e
p. 664, Eq. (14.245b): p + 2ra e = p 1e

p. 667, Eq. (14.259): Second line of this equation should have the x replace with v and
read

2 0

0
+ 2 0 0 v +
0 0 0

p. 679, 1-2-3 rotation matrix, element (1,3): c3 s2 c1 + s3 s1

p. 688, 3rd line from top:

r r
f e+1 H H e1 f
tan = tanh tanh = tan
2 e1 2 2 e+1 2

Revision History
April 6, 2004: Beginning of the revision history section. Added two corrections on page 187.

April 7, 2004: Added kY and kR switch correction for page 169.

April 28, 2004: Changed stability condition to squared version in 4.165 on page 169. Adjusted
figure label accordingly.

April 30, 2004: Added brackets around cross product on page 189.

May 13, 2004: added type setting clarification on page 473.

July 12, 2004: added entry on page 122.

9
 July 17, 2004: added entry on page 650 which removes the partial derivative matrix transpose
operator.

Aug. 3, 2004: added Fig. 14.10(b) label correction on page 640

Aug. 24, 2004: page 276, Eq. (7.57)

Sept. 3, 2004: page 41, after Eq. (2.37)

Sept. 13, 2004: page 431432, multiply specified equations by G.

Oct. 9, 2004: pages 575, 590, 591. Redrew the transfer orbits to make them more realistic.

Nov. 10, 2004: pages 399 (Table 9.2) and page 487 (Table 11.1). Updated Pluto values , page
573, update n4 value

Nov. 11, 2004: pages 487 changed table reference from 9.3 to 9.2

Dec. 2, 2004: Eq. (13.93) is updated

Dec. 3, 2004: page 384, Table 1 spelling corrected

Dec. 31, 2004: corrections on pages 453, 454, 468 and 470 added.

Jan. 5, 2005: corrections on page 266 (Eqs. 7.6 and 7.7), page 270 (Eq. 7.24), and page 276
(Eq. 7.55) added.

Jan. 30, 2005: corrections on page 443.

Feb. 4, 2005: fix on page 421, Problem 4

Feb. 7, 2005: fix on page 415, Eq. (9.145)

March 2, 2005: fix on page 454, Eq. (10.101), p. 453, p. 455 with Eq. (10.109)

March 12, 2005: fix in Eq. (12.69) on page 505, Eq. (12.95) on page 512, Eq. (12.120) on
page 516

March 22, 2005: fix on page 140, page 442

March 29, 2005: fix on page 355 (Eq. 8.174), page 147 (Fig. 4.7)

April 6, 2005: fix on page 133, Example 4.1

April 7, 2005: fix on page 541, Problem 12.1

April 11, 2005: fix on page 522, Eq. 156.

April 13, 2005: fix on page 520, Eq. (12.145), and sentence after this equation.

April 27, 2005: fix on page 542, Prob. 12.8

May 17, 2005: fix on page 510, Eqs. (12.86c), (12.86.e) and (12.86.f)

May 18, 2005: fix on page 667, Eq. (14.259)

10
 May 26, 2005: fix on page 161, Eq. (4.126), page 162 prior to (4.127), page 163 prior to
(4.136), page 163 with (4.136), page 163 prior to Eq. (4.137), page 163 with Eq. (4.137),
page 164 top of page, page 164 with Eq. (4.138), page 58, page 307 top of page, page 315
Eq. (8.40), page 688

11