Abstract
A unified geometric formulation of the methods used for solving constrained system problems is given. Both holonomic and nonholonomic systems are treated in like manner, and the dynamic equations are expressible in either generalized velocities or quasi-velocities. Moreover, a wide range of ’unconstrained‘ systems are uniformly regarded as generalized particles in the multi-dimensional metric spaces relating to their configuration. The derivation is grounded on the tensor calculus formalism and appropriate geometric interpretations are reported. In its useful matrix form, the formulation turns out short, elementary and general. This unified geometric approach to constrained system dynamics may deserve to become a generally accepted method inacademic and engineering applications.
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