Dynamics : theory and application of Kane's method / Carlos M. Roithmayr, NASA Langley Research Center, Dewey H. Hodges, Georgia Institute of Technology.
Differentiation of vectors -- Kinematics -- Constraints -- Mass distribution -- Generalized forces -- Constraint forces, constraint torques -- Energy functions -- Formulation of equations of motion -- Extraction of information from equations of motion -- Kinematics of orientation.
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