On a decomposition of generalized constraint forces
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An additive decomposition of generalized constraint forces into a component determined by the motion of the system and a constitutively prescribed component is discussed in this paper. The former component is shown to be necessary and sufficient to ensure that the motion of the system satisfies the constraint, while the prescription of the latter is shown to be at the discretion of the dynamicist. The decomposition is also related to previous works on constraint forces in the dynamics of discrete mechanical systems.
author list (cited authors)
O'Reillyex, O. M., & Srinivasa, A. R.