Geodesic
On D’Alembert’s Principle
Communications in Mathematics, Tome 19 (2011) no. 1, pp. 57-72.

Voir la notice de l'article provenant de la source Czech Digital Mathematics Library

A formulation of the D’Alembert principle as the orthogonal projection of the acceleration onto an affine plane determined by nonlinear nonholonomic constraints is given. Consequences of this formulation for the equations of motion are discussed in the context of several examples, together with the attendant singular reduction theory.
Classification : 37J60, 70F25, 70H33, 70H45
Keywords: nonholonomic constraints; d’Alembert’s principle 
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     title = {On {D{\textquoteright}Alembert{\textquoteright}s} {Principle}},
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Bates, Larry M.; Nester, James M. On D’Alembert’s Principle. Communications in Mathematics, Tome 19 (2011) no. 1, pp. 57-72. http://geodesic.mathdoc.fr/item/COMIM_2011__19_1_a3/