A unified formulation of rigid body dynamics based on Gauss principle is proposed. The Lagrange, Kirchhoff and Newton–Euler equations are seen to arise from different choices of the quasicoordinates in the velocity space. The group-theoretical aspects of the method are discussed.
Newton–Euler, Lagrange and Kirchhoff formulations of rigid body dynamics: a unified approach
MASSA, ENRICO;VIGNOLO, STEFANO
2016-01-01
Abstract
A unified formulation of rigid body dynamics based on Gauss principle is proposed. The Lagrange, Kirchhoff and Newton–Euler equations are seen to arise from different choices of the quasicoordinates in the velocity space. The group-theoretical aspects of the method are discussed.
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