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

DOI10.1007/S11012-015-0333-7zbMATH Open1404.70011arXiv1607.00156OpenAlexW3098426306MaRDI QIDQ310574FDOQ310574

Authors: Enrico Massa, Stefano Vignolo 

Publication date: 8 September 2016

Published in: Meccanica (Search for Journal in Brave)

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.

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

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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)

Cites Work

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Cited In (8)

• On the Transitivity Equations of Rigid-Body Dynamics
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• A dynamical formalism for unrooted systems of rigid bodies
• On the representation of rigid body rotational dynamics in Hertzian configuration space
• Newton-Euler equations in general coordinates
• A tensor method for the derivation of the equations of rigid body dynamics
• Kirchhoff's equations for the rigid body motion revisited
• The equations of motion for a rigid body using non-redundant unified local velocity coordinates

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