Abstract
There are three methods to describe the equation of motion for mechanical system: Newtonian mechanics, Lagrangian one and Hamiltonian one. Newtonian mechanics has been used for simple mechanical systems because it is an intuitive and non-systematic method. On the contrary, Lagrangian and Hamiltonian ones can be used for complex multi-body mechanical systems because they are systematic approaches. In this chapter, either Lagrangian or Hamiltonian mechanics is used as a representation for motion of mechanical systems.
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