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Even the most simplified models of falling and gliding bodies exhibit rich nonlinear dynamical behavior. Taking a global view of the dynamics of one such model, we find an attracting invariant manifold that acts as the dominant organizing feature of trajectories in velocity space. This attracting manifold captures the final, slowly changing phase of every passive descent, providing a higher-dimensional analogue to the concept of terminal velocity, the terminal velocity manifold. Within the terminal velocity manifold in extended phase space, there is an equilibrium submanifold with equilibria of alternating stability type, with different stability basins. In this work, we present theoretical and numerical methods for approximating the terminal velocity manifold and discuss ways to approximate falling and gliding motion in terms of these underlying phase space structures.more » « less
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This paper introduces the trajectory divergence rate, a scalar field which locally gives the instantaneous attraction or repulsion of adjacent trajectories. This scalar field may be used to find highly attracting or repelling invariant manifolds, such as slow manifolds, to rapidly approximate hyperbolic Lagrangian coherent structures, or to provide the local stability of invariant manifolds. This work presents the derivation of the trajectory divergence rate and the related trajectory divergence ratio for two-dimensional systems, investigates their properties, shows their application to several example systems, and presents their extension to higher dimensions.more » « less
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