A Simple Treatment of Constraint Forces and Constraint Moments in the Dynamics of Rigid Bodies Academic Article uri icon


  • In this expository article, a simple concise treatment of Lagrange's prescription for constraint forces and constraint moments in the dynamics of rigid bodies is presented. The treatment is suited to both NewtonEuler and Lagrangian treatments of rigid body dynamics and is illuminated with a range of examples from classical mechanics and orthopedic biomechanics.

published proceedings


altmetric score

  • 0.5

author list (cited authors)

  • O'Reilly, O. M., & Srinivasa, A. R.

citation count

  • 8

complete list of authors

  • O'Reilly, Oliver M||Srinivasa, Arun R

publication date

  • August 2015