What is the General Form of the ExplicitEquations of Motion for Cosntrained Mechanical Systems?

• Autores: F.E. Udwadia, R.E. Kalaba
• Localización: Journal of applied mechanics, ISSN 0021-8936, Vol. 69, Nº. 3, 2002, págs. 336-369
• Idioma: inglés
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• Resumen

  • This paper presents the general form of the explicit equations of motion for mechanical systems. The systems may have holonomic and/or nonholonomic constraints, and the constraint forces may or may not satisfy D'Alembert's principle at each instant of time. The explicit equations lead to new fundamental principles of analytical mechanics. ©2002 ASME