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Unformatted text preview: t 2 t 1 dt X i ( L q i-d dt L q i ) q i . The last equality holds because of q i ( t 1 ) = q i ( t 2 ) = 0. As the variations are inde-pendent, the Fnally obtained relation is equivalent to L q i-d dt L q i = for i = 1 , . . . , n ....
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- Spring '11