Generalized Lagrange--d'Alembert principle

DOI10.2298/PIM1205049DMaRDI QIDQ2853205zbMATH OpenOpenAlexFDO

Authors Đorđe Đukić

Publication date 18 October 2013

Published in Publications de l'Institut Mathématique. Nouvelle Série (Search for Journal in Brave)

Full work available at URL https://doi.org/10.2298/pim1205049d

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zbMATH Keywords

Euler-Lagrange equationsholonomic constraintsreaction forces

Mathematics Subject Classification ID

Generalized coordinates; event, impulse-energy, configuration, state, or phase space for problems in mechanics (70G10) Constrained dynamics, Dirac's theory of constraints (70H45)

Review text

A variant of the Lagrange--D'Alembert principle for mechanical systems with holonomic constraints is formulated by introducing generalized coordinates in the normal direction to the tangent space of the configuration manifold. The sum of the virtual works of the active forces, inertial forces and reaction forces is equal to zero, where a virtual displacement is taken to be the sum of the classical virtual displacement and a virtual displacement in the normal direction. In such a way, the constrained forces are calculated from the equations of dynamical equilibrium.

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