Abstract
This paper presents numerical results obtained for a dynamic system that is modeled using Hamilton's law of varying action and for which geometric constraints are enforced explicitly. These results are compared with numerical results for the same system that were obtained from ordinary differential equations, differential-algebraic equations, and a formulation based on Hamilton's law in which the constraints were enforced implicitly. This comparison had two objectives: first, to show that numerical results from the formulation based on Hamilton's law and explicit constraints were equal or superior to results from other formulations; second, to verify that explicit constraints must be enforced at the end of the time step. Both objectives were successfully accomplished.
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