Constraints and Lagrangian Coordinates

Part of the Cornerstones book series (COR)


Constraints are limitations imposed on thegeometrical or kinematic configuration of a mechanical system. For example, in a rigid motion any two points are required to beat constant mutual distance. This is a rigidity constraint. A system with one of its points constrained on a surface is an example of a constrained mechanical system. Assume that a point P moves, being constrained to a surface \(\mathcal{S}\subset {\mathbb{R}}^{3}\).


Fundamental Form Maximum Rank Rigid Motion Christoffel Symbol Unilateral Constraint 
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Copyright information

© Springer Science+Business Media, LLC 2011

Authors and Affiliations

  1. 1.Department of MathematicsVanderbilt UniversityNashvilleUSA

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