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X-component wind velocity vector at 1.00m (40% setting)  

The Optimist

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Body Conventions

The Optimist assembly consists of three bodies denoted as hull, boom and ballast. These bodies are linked together by means of constraints. The largest and heaviest body is the hull which accommodates all actuators. The boom is connected to the hull by means of a hinge joint. The ballast can shift in lateral direction by means of a prismatic joint between the hull and the ballast body. The Local Coordinate Systems (LCS) of the three bodies are displayed in the figure below. If the boom (and the sail) has a boom angle of 0 degrees w.r.t. the hull, the orientation of these three LCS's is equal. The origin of the boom is at the intersection between the boom profile and the centerline of the mast. The origin of the ballast is chosen at the center of the aluminum profile, which is the support of the ballast actuator on the hull edges. The board and rudder are objects. They have a frame of reference, but have not inertia lie a body.   

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