Other forms of differential equations of motion
These equations differing from Lagrange’s equations by introducing quasi-velocities instead of the generalised velocities, were derived by Boltzmann  and Hamel  at approximately the same time. It was Hamel who suggested the above name for these equations. The equations of motion used by Voronets  also deal with the quasi-velocities, however their form differs slightly from the Euler-Lagrange equations.
KeywordsAerodynamic Force Angular Velocity Vector Holonomic Constraint Holonomic System Elementary Work
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