Nonideal Constraints and Lagrangian Dynamics |
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Authors: | Firdaus E Udwadia Robert E Kalaba |
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Affiliation: | 11Prof. of Mech. Engrg., Civ. Engrg., Math., and Decision Sys., 430K Olin Hall, Univ. of Southern California, Los Angeles, CA 90089-1453.
22Prof. of Biomedical Engrg., Electr. Engrg., and Economics, Univ. of Southern California, Los Angeles, CA.
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Abstract: | This paper deals with mechanical systems subjected to a general class of non-ideal equality constraints. It provides the explicit equations of motion for such systems when subjected to such nonideal, holonomic and∕or nonholonomic, constraints. It bases Lagrangian dynamics on a new and more general principle, of which D'Alembert's principle then becomes a special case applicable only when the constraints become ideal. By expanding its perview, it allows Lagrangian dynamics to be directly applicable to many situations of practical importance where non-ideal constraints arise, such as when there is sliding Coulomb friction. |
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