Abstract
This paper addresses the relation between constraining forces, constraint equations, and undetermined multipliers, used in studying constrained multibody systems. A formalism is developed establishing the undetermined multiplier method through the concept of a generalized constraint force, partial velocities, and kinematic constraint equations.
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Huston, R. Constraint Forces and Undetermined Multipliers in Constrained Multibody Systems. Multibody System Dynamics 3, 381–389 (1999). https://doi.org/10.1023/A:1009868500311
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DOI: https://doi.org/10.1023/A:1009868500311