Newton-Euler, Lagrange and Kirchhoff formulations of rigid body dynamics: a unified approach
classification
🧮 math-ph
gr-qcmath.MP
keywords
bodydynamicskirchhofflagrangenewton-eulerrigidunifiedapproach
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A unified formulation of rigid body dynamics based on Gauss principle is proposed. The Lagrange, Kirchhoff and Newton-Euler equations are seen to arise from different choices of the quasicoordinates in the velocity space. The group-theoretical aspects of the method are discussed.
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