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‫Welcome back.

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‫So this is the solution here, here, M2 and M4 have the same rotational velocity, then we add Delta

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‫A radians per second to a rotation in M3 and we deduct Delta B radians per second from rotation in M

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‫one that creates a talk around the body frame y axis.

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‫That torque is our pitch control action that we call you three and its unit is Knewton meters.

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‫And again, assuming no other talks round you three creates angular acceleration, theta double dot

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‫around body frame y axis.

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‫The relationship between them is also very simple.

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‫What do you think it is?

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‫You guessed it, it's U3 equals mass moment of inertia about the body frame, Y-axis times Seeta, double

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‫that.

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‫And now we have one more control action to cover.

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‫We have covered three of them and now we have a fourth one.

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‫It is called Your Control Action EUFOR in Newton Meters.

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‫That involves rotating about the body frame, the Z axis.

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‫So now we have a body frame Z axis here, and now we're going to be rotating about that axis.

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‫And again, here's an exercise for you.

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‫How would you rotate about the body frame Z axis?

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‫How would you configure the rotations of the propellers here, which propellers need to rotate at the

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‫same rate and which propellers need to differ in their rotations?

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‫And remember, we want to have positive rotation.

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‫So according to the right hand rule, the sun needs to point up towards the positive body from the axis.

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‫So this is your exercise and I will give you the solution in the next video.

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‫Thank you.