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    Explicit Equations of Motion for Mechanical Systems With Nonideal Constraints

    Source: Journal of Applied Mechanics:;2001:;volume( 068 ):;issue: 003::page 462
    Author:
    F. E. Udwadia
    ,
    Professor of Civil Engineering
    ,
    Aerospace and Mechanical Engineering
    ,
    R. E. Kalaba
    ,
    Professor of Biomedical Engineering
    ,
    Electrical Engineering
    DOI: 10.1115/1.1364492
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Since its inception about 200 years ago, Lagrangian mechanics has been based upon the Principle of D’Alembert. There are, however, many physical situations where this confining principle is not suitable, and the constraint forces do work. To date, such situations are excluded from general Lagrangian formulations. This paper releases Lagrangian mechanics from this confinement, by generalizing D’Alembert’s principle, and presents the explicit equations of motion for constrained mechanical systems in which the constraints are nonideal. These equations lead to a simple and new fundamental view of Lagrangian mechanics. They provide a geometrical understanding of constrained motion, and they highlight the simplicity with which Nature seems to operate.
    keyword(s): Force , Motion , Equations of motion , D'Alembert's principle AND Equations ,
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      Explicit Equations of Motion for Mechanical Systems With Nonideal Constraints

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    http://yetl.yabesh.ir/yetl1/handle/yetl/124704
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    contributor authorF. E. Udwadia
    contributor authorProfessor of Civil Engineering
    contributor authorAerospace and Mechanical Engineering
    contributor authorR. E. Kalaba
    contributor authorProfessor of Biomedical Engineering
    contributor authorElectrical Engineering
    date accessioned2017-05-09T00:04:02Z
    date available2017-05-09T00:04:02Z
    date copyrightMay, 2001
    date issued2001
    identifier issn0021-8936
    identifier otherJAMCAV-26515#462_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/124704
    description abstractSince its inception about 200 years ago, Lagrangian mechanics has been based upon the Principle of D’Alembert. There are, however, many physical situations where this confining principle is not suitable, and the constraint forces do work. To date, such situations are excluded from general Lagrangian formulations. This paper releases Lagrangian mechanics from this confinement, by generalizing D’Alembert’s principle, and presents the explicit equations of motion for constrained mechanical systems in which the constraints are nonideal. These equations lead to a simple and new fundamental view of Lagrangian mechanics. They provide a geometrical understanding of constrained motion, and they highlight the simplicity with which Nature seems to operate.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleExplicit Equations of Motion for Mechanical Systems With Nonideal Constraints
    typeJournal Paper
    journal volume68
    journal issue3
    journal titleJournal of Applied Mechanics
    identifier doi10.1115/1.1364492
    journal fristpage462
    journal lastpage467
    identifier eissn1528-9036
    keywordsForce
    keywordsMotion
    keywordsEquations of motion
    keywordsD'Alembert's principle AND Equations
    treeJournal of Applied Mechanics:;2001:;volume( 068 ):;issue: 003
    contenttypeFulltext
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