Kane's formalism and Lie group theory (Q1976792)

The authors apply Lie group theory to produce a symbolic iterative procedure for deriving dynamical equations for multibody systems. They use Kane's equations for the dynamics principle. The authors also observe that for this purpose Kane's equations enjoy advantages over both Newton's laws and Lagrange's equations. The paper is relatively brief, but it could be useful to both theoreticians and software developers working with multibody systems.