A Simple Treatment of Constraint Forces and Constraint Moments in the Dynamics of Rigid Bodies

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. Copyright © 2015 by ASME.

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