Daqaq, Mohammed F. "System Constraints and Virtual Displacement." Dynamics of Particles and Rigid Bodies: A Self-Learning Approach. Ed. Mohammed F. Daqaq. ASME Press, 2019.
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Most dynamical systems do not move freely in space but are subject to constraints that alter, restrict, and shape their motion. In this chapter, we classify these constraints and understand their influence on the dynamics.
Actual and Virtual Displacements4.3