In this paper we obtain the explicit equations of motion for mechanical systems under nonideal constraints without the use of generalized inverses. The new set of equations is shown to be equivalent to that obtained using generalized inverses. Examples demonstrating the use of the general equations are provided.
Mechanical Systems With Nonideal Constraints: Explicit Equations Without the Use of Generalized Inverses
Contributed by the Applied Mechanics Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF APPLIED MECHANICS. Manuscript received by the Applied Mechanics Division, Jan. 14, 2003; final revision, March 8, 2004. Associate Editor: O. O’Reilly. Discussion on the paper should be addressed to the Editor, Prof. Robert M. McMeeking, Journal of Applied Mechanics, Department of Mechanical and Environmental Engineering, University of California–Santa Barbara, Santa Barbara, CA 93106-5070, and will be accepted until four months after final publication in the paper itself in the ASME JOURNAL OF APPLIED MECHANICS.
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Udwadia, F. E., Kalaba, R. E., and Phohomsiri, P. (November 9, 2004). "Mechanical Systems With Nonideal Constraints: Explicit Equations Without the Use of Generalized Inverses ." ASME. J. Appl. Mech. September 2004; 71(5): 615–621. https://doi.org/10.1115/1.1767844
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