kinematics equations的用法和样例：
例句
- The rotation dynamic and quaternion kinetic equations of spacecrafts were educed according to the principles of variable-structure control.
根据滑动模态变结构控制原理，导出了航天器三轴动力学和四元数姿态运动学方程。 - It specifies the establishment of the kinematic equations and the Jacobin matrix.It also gives a detailed discussion on the singularity of the mechanism.
文章具体阐述该操作台的运动学方程和雅可比矩阵的建立过程，并详细讨论了机构的奇异性。
