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 Newton-Euler and Lagrangian treatments of rigid body dynamics and is illuminated with a range of examples from classical mechanics and orthopedic biomechanics. Copyright © 2015 by ASME.

altmetric score

  • 0.5

author list (cited authors)

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

citation count

  • 7

publication date

  • January 2015