‫Welcome back.
‫So this is the solution here, here, M2 and M4 have the same rotational velocity, then we add Delta
‫A radians per second to a rotation in M3 and we deduct Delta B radians per second from rotation in M
‫one that creates a talk around the body frame y axis.
‫That torque is our pitch control action that we call you three and its unit is Knewton meters.
‫And again, assuming no other talks round you three creates angular acceleration, theta double dot
‫around body frame y axis.
‫The relationship between them is also very simple.
‫What do you think it is?
‫You guessed it, it's U3 equals mass moment of inertia about the body frame, Y-axis times Seeta, double
‫that.
‫And now we have one more control action to cover.
‫We have covered three of them and now we have a fourth one.
‫It is called Your Control Action EUFOR in Newton Meters.
‫That involves rotating about the body frame, the Z axis.
‫So now we have a body frame Z axis here, and now we're going to be rotating about that axis.
‫And again, here's an exercise for you.
‫How would you rotate about the body frame Z axis?
‫How would you configure the rotations of the propellers here, which propellers need to rotate at the
‫same rate and which propellers need to differ in their rotations?
‫And remember, we want to have positive rotation.
‫So according to the right hand rule, the sun needs to point up towards the positive body from the axis.
‫So this is your exercise and I will give you the solution in the next video.
‫Thank you.