Technical Brief

A Variationally Consistent Approach to Constrained Motion

[+] Author and Article Information
John T. Foster

Department of Petroleum and Geosystems Engineering,
Department of Aerospace Engineering and
Engineering Mechanics,
The University of Texas at Austin,
Austin, TX 78712
e-mail: jfoster@austin.utexas.edu

Manuscript received August 10, 2015; final manuscript received February 19, 2016; published online March 15, 2016. Assoc. Editor: Alexander F. Vakakis.

J. Appl. Mech 83(5), 054501 (Mar 15, 2016) (4 pages) Paper No: JAM-15-1422; doi: 10.1115/1.4032856 History: Received August 10, 2015; Revised February 19, 2016

A variationally consistent approach to constrained rigid-body motion is presented that extends D'Alembert's principle in a way that has a form similar to Kane's equations. The method results in minimal equations of motion for both holonomic and nonholonomic systems without a priori consideration of preferential coordinates.

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Grahic Jump Location
Fig. 1

A particle constrained to move along a parabola

Grahic Jump Location
Fig. 2

Two-wheeled cart driven by electrostatic forces. The wheels turn independently.



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