Explicit Equations of Motion for Mechanical Systems With Nonideal Constraints

[+] Author and Article Information
F. E. Udwadia, R. E. Kalaba

University of Southern California, Los Angeles, CA 90089-1453

J. Appl. Mech 68(3), 462-467 (Oct 09, 2000) (6 pages) doi:10.1115/1.1364492 History: Received April 02, 2000; Revised October 09, 2000
Copyright © 2001 by ASME
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Grahic Jump Location
The geometry of constrained motion is depicted using projections on N(B) and R(BT). The projection of q̈s on N(B) is the same as that of (as+cs) because Nq̈s=N(as+cs). The vector B+b is orthogonal to this projection.



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