... A mechanical system is often modeled as a set of particles and rigid bodies, some of which are constrained in one way or another. A concise method is proposed for identifying a set of constraint forces needed to ensure the restrictions are met. Identification consists of determining the direction of each...

..., previously discounted on the basis of a flawed application of the Newton–Euler method, are verified by using Kane’s method together with a new approach for determining the directions of constraint forces. 28 06 2007 29 12 2008 09 03 2009 classical mechanics force variational...