Velocity Analysis of the Body and Wings

The velocity of the body is the derivative of the position discussed in the previous section. As the position followed cosine curves, the velocities shown above follow sin curves.

As for the position, the Y component of the velocity of the wing follows the same general shape as the velocity of the body. Here, the X component of velocity is obtained by multiplying the Y component by the cotangent of the angle of the velocity. This angle is obtained by taking the arctangent of the position and adding 90°.

Above is the angular velocity of the wing, obtained by dividing the magnitude of the wing velocity by the length of the wing and adjusting direction by inspection.