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Unformatted text preview: and nonconservative forces, the formula for the socalled “nonconservative generalized forces” are found: Nonconservative generalized forces Derivation 4 Lastly, the formula for the kinematic motion is substituted into the equation of motion to obtain the final form: Lagrangian: Derivation 5 If all of the generalized coordinates are independent, then for each of the r th coordinates (degrees of freedom). An alternative form taken from the previous equations is, Lagrange penalty Example Rolling Disc on Incline 6 C F o cos ω o t Eliminate constraints Example Rolling Disc on Incline 7 C F o cos ω o t Calculate generalized forces: Example Rolling Disc on Incline 8...
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This document was uploaded on 12/23/2011.
 Fall '09

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