In this expository article, a simple concise treatment of Lagrange's prescription for constraint forces and constraint moments in the dynamics of rigid bodies is presented. The treatment is suited to both Newton–Euler and Lagrangian treatments of rigid body dynamics and is illuminated with a range of examples from classical mechanics and orthopedic biomechanics.
A Simple Treatment of Constraint Forces and Constraint Moments in the Dynamics of Rigid Bodies
Manuscript received March 1, 2014; final manuscript received July 17, 2014; published online August 25, 2014. Editor: Harry Dankowicz.
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O'Reilly, O. M., and Srinivasa, A. R. (August 25, 2014). "A Simple Treatment of Constraint Forces and Constraint Moments in the Dynamics of Rigid Bodies." ASME. Appl. Mech. Rev. January 2015; 67(1): 014801. https://doi.org/10.1115/1.4028099
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