AbstractAn alternative means for deriving equations of motion of complex systems is demonstrated. Since the method is energy based, it is useful for elastic systems. Because the method can handle vectors expressed relative to rotating coordinate systems, it does not require the introduction of coordinate transformations and thereby produces equations in a simple form. The article shows that Kane's method for rigid body systems is a special case of this alternative method. Two example problems show how the algebra can be applied to rigid and flexible nonholonomic systems.
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