Equations of motion for constrained mechanical systems and the extended d’Alembert’s principle

Udwadia, Firdaus E.; Kalaba, Robert E.; Eun, Hee-Chang

doi:10.1090/qam/1447580

Authors: Firdaus E. Udwadia, Robert E. Kalaba and Hee-Chang Eun
Journal: Quart. Appl. Math. 55 (1997), 321-331
MSC: Primary 70F25; Secondary 70E99, 70F20
DOI: https://doi.org/10.1090/qam/1447580
MathSciNet review: MR1447580
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Abstract: Starting from the principle of virtual work, this paper states and establishes an extended version of D’Alembert’s Principle. Using this extended principle and elementary linear algebra, it develops, from first principles, the explicit equation of motion for constrained mechanical systems. The results are compared with the authors’ previous results. The approach points to new ways of extending these results.

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