lagrange_continu

lagrange_continu - (outermost box in the figure) = inertial...

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LAGRANGE’S EQUATIONS (CONTINUED) Mechanism in “uncoupled” inertial coordinates: (innermost box in the figure) dt d p F = ; Mv p = Mechanism in generalized coordinates: (middle box in the figure) τ = d η /dt – E k * / ∂θ ; η = I ( θ ) ω ; E k * ( θ , ω ) = ½ ω t I ( θ ) ω or ω L dt d θ L = τ with L( θ , ω ) = E k * ( θ , ω )
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Add elastic elements in generalized coordinates:
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Unformatted text preview: (outermost box in the figure) = inertial + elastic = d /dt E k * / + E p / or L dt d L = with L( , ) = E k * ( , ) E p ( )...
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lagrange_continu - (outermost box in the figure) = inertial...

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