618 Chapter 13 Rigid Body Dynamics
X(t + h) = X(t) + hv(t) +h2 2a(t)
v(t + h) = v(t) + h/2[a(t) + a(t + h)]
13.3 Numerical Integration 619
Implicit methods make use of quantities from the next time step:
yi+1 = yi + hi y′i+1
Figure 13.7 Implicit Euler. The arrows point backwards to indicate that we are getting the derivative from the next time step.