Newton-Euler, Lagrange and Kirchhoff formulations of rigid body dynamics: a unified approach
Mathematical Physics
2017-08-17 v1 General Relativity and Quantum Cosmology
math.MP
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.
Keywords
Cite
@article{arxiv.1607.00156,
title = {Newton-Euler, Lagrange and Kirchhoff formulations of rigid body dynamics: a unified approach},
author = {Enrico Massa and Stefano Vignolo},
journal= {arXiv preprint arXiv:1607.00156},
year = {2017}
}
Comments
5 pages