Newton-Euler, Lagrange and Kirchhoff formulations of rigid body dynamics: a unified approach
arXiv:1607.00156 · doi:10.1007/s11012-015-0333-7
Abstract
A unified formulation of rigid body dynamics based on Gauss principle is proposed. The Lagrange, Kirchhoff and Newton-Euler equations are seen to arise from different choices of the quasicoordinates in the velocity space. The group-theoretical aspects of the method are discussed.
5 pages