Abstract
Chapter 8 presented variational and energy principles for unconstrained dynamical system. This chapter generalizes these formulations to enable the treatment of constrained systems. D’Alembert’s principle is treated in section 10.1. The generalization of Hamilton’s principle and Lagrange’s formulation to systems with holonomic constraints is presented in section 10.2 and section 10.3 generalizes the same formulations to systems with nonholonomic constraints.
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© 2011 Springer Science+Business Media B.V.
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Bauchau, O.A. (2011). Constrained systems: classical formulations. In: Flexible Multibody Dynamics. Solid Mechanics and Its Applications, vol 176. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-0335-3_10
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DOI: https://doi.org/10.1007/978-94-007-0335-3_10
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Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-0334-6
Online ISBN: 978-94-007-0335-3
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