‫Welcome back.
‫So the angular momentum, values and the direction for M2 and and for are the following, they will
‫both point down.
‫And so the angular momentum for each sub two is G t p times or Omega to.
‫And age four equals Jessopp teep times Omega four.
‫And remember, these are are simply the angle of velocities of the propellers about their respective
‫body frame Z axis.
‫So your M2 and M4 have negative, angular momentum.
‫Now, just to clarify something, the Motors, M2 and M4, they still produce an upward force called
‫thrust.
‫OK, you have your T two here and then you have your T for here, just like in three and M one.
‫So T one here and T three here.
‫And that's because the blades are aerodynamically manufactured like that that they produce up for force
‫when M1 and M3 rotate counterclockwise and M2 and then for rotate clockwise.
‫In all cases the blades are designed in such a way that they all produce an upward force.
‫But because you rotate M to an M4 clockwise, then we say that they rotate at minus omega two radians
‫per second and minus Omega for radians per second.
‫So I guess I should put here minus here and also a minus here.
‫And then minus means that the direction of the angular momentum vector is down.
‫However, even though their rotation is at negative, angular velocity, still the blades of two and
‫four are designed in such a way that the thrust force will point up.
‫Otherwise the drone wouldn't be able to lift itself from the ground.
‫And of course, in case of M1 and M3, the rotors rotate at positive or negative one radians per second
‫and that positive omega three radians per second.
‫So in conclusion, the propeller's that the drone has produced angular momentum values.
‫They produce H1, H2, H3 and H for H1 and H3, their positive H2 and then H four are negative.
‫And so their angular momentum vectors depend on two things.
‫The magnitude and the direction of their omega's.