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Forces and Constraints

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Engineering Dynamics

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Abstract

In which we say something about generalized forces and discuss constraints and how to apply them, introduce Lagrange multipliers for common nonholonomic constraints and take a quick look at one-sided constraints…

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Notes

  1. 1.

    If you build a constraint matrix and its rank is less than M then you have made a mistake. Go back and check the independence of the constraints.

  2. 2.

    I am neglecting the generalized forces Q k for the sake of clarity. They can be carried along with no change.

  3. 3.

    Note that all simulations reported in this text were done using Mathematica.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Rochester, Hopeman Building 235, Rochester, NY, 14627, USA

    Roger F. Gans

Authors
  1. Roger F. Gans
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© 2013 Springer Science+Business Media New York

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Gans, R.F. (2013). Forces and Constraints. In: Engineering Dynamics. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-3930-1_3

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  • DOI: https://doi.org/10.1007/978-1-4614-3930-1_3

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  • Publisher Name: Springer, New York, NY

  • Print ISBN: 978-1-4614-3929-5

  • Online ISBN: 978-1-4614-3930-1

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