Analytical Mechanics: A Comprehensive Treatise on the Dynamics of Constrained Systems

Introduction Background: Basic Concepts and Equations of Particle and Rigid-Body Mechanics Kinematics of Constrained Systems Kinetics of Constrained Systems Impulsive Motion Nonlinear Nonholonomic Constraints Differential Variational Principles, and Associated Generalized Equations of Motion Time-Integral Theorems and Variational Principles Introduction to Hamiltonian/Canonical Methods.