A variationally consistent approach to constrained rigid-body motion is presented that extends D'Alembert's principle in a way that has a form similar to Kane's equations. The method results in minimal equations of motion for both holonomic and nonholonomic systems without a priori consideration of preferential coordinates.
A Variationally Consistent Approach to Constrained Motion
Manuscript received August 10, 2015; final manuscript received February 19, 2016; published online March 15, 2016. Assoc. Editor: Alexander F. Vakakis.
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Foster, J. T. (March 15, 2016). "A Variationally Consistent Approach to Constrained Motion." ASME. J. Appl. Mech. May 2016; 83(5): 054501. https://doi.org/10.1115/1.4032856
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