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Newton-Euler, Lagrange and Kirchhoff formulations of rigid body dynamics: a unified approach
Published 1 Jul 2016 in math-ph, gr-qc, and math.MP | (1607.00156v1)
Abstract: 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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