Newton-Euler, Lagrange and Kirchhoff formulations of rigid body dynamics: a unified approach

DOI10.1007/S11012-015-0333-7MaRDI QIDQ310574zbMATH OpenOpenAlexFDO

Authors Enrico Massa, Stefano Vignolo

Publication date 8 September 2016

Published in Meccanica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1607.00156

zbMATH Keywords

Gauss principleLagrange and Kirchhoff equationsrigid body kinematics and dynamics

Mathematics Subject Classification ID

Kinematics of a rigid body (70B10) Dynamics of a rigid body and of multibody systems (70Exx)

Abstract: A unified formulation of rigid body dynamics based on Gauss principle is proposed. The Lagrange, Kirchhoff and Newton-Euler equations are seen to arise from different choices of the quasicoordinates in the velocity space. The group-theoretical aspects of the method are discussed.

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