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The Udwadia-Kalaba (U-K) formulation for constrained motion analysis is extended to rigid body control on six-dimensional Euclidean space and the double tangent bundle of special Euclidean group.  Based on this formulation, the article includes both full and underconstrained case studies, and concludes that the constraint accelerations minimize the Gaussians on each space and are identical between spaces.  In addition, in order to capture disturbed initial conditions and drive the system to constraint satisfaction where the U-K formulation could then determine constraint accelerations, the authors extend a devised Morse-Lyapunov (M-L) based controller to treat tracking control. 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