Constrained Lagrangian dynamics based on reduced quasi-velocities and quasi-forces (Q2065570)

The paper presents a formulation of constrained multibody system dynamics by means of quasi-velocities and quasi-forces. As a main output, in the author's words ``t does not require adequate weighting matrices when the generalized coordinates involve both translational and rotational components and/or the generalized force or constraint wrench involve in both force and moment components'', which is certainly a bonus of the presented method. Apart from the formulation, some properties are accordingly studied, the manuscript also brings an enlightening example and ensuing consequences are referred to.