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By using the virtual displacement \\(\\delta\\dot r_i\\) in velocity space, the authors derive the d'Alembert principle \\(\\Sigma(\\dot Q_s-{d \\over dt}{\\partial S\\over \\partial \\ddot q_s}+{\\partial S\\over\\partial\\dot q_s})\\delta \\dot q_s=0\\) in the velocity space, where \\(\\dot Q_s=\\Sigma (\\dot F_i+\\dot R_i)\\partial \\dot r_i/ \\partial \\dot q_s\\), and \\(S={1\\over 2}\\Sigma m_i\\ddot r_i^2\\) is the accelerated energy (i.e. the dynamical energy in the velocity space). The results can be generalized in the case of nonholonomic constraints \\(f_k(q_1, \\dots, q_n,\\dot q_1,\\dots, \\dot 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