Knowing maths

 Generalised coordinates; Generalized coordinates are any set of coordinates that are used to describe the motion of a physical system. Cartesian coordinates and spherical polar coordinates are other examples of generalized coordinates. We may choose any convenient set of generalized coordinates for a particular problem


What is D'Alembert's Principle? For a system of mass of particles, the sum of the difference of the force acting on the system and the time derivatives of the momenta is zero when projected onto any virtual displacement.

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