Analysis of the Time-Dependence of Multi-Freedom Mechanical Systems in Relative Coordinates

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Abstract
A theoretical model and a computational procedure are proposed for the analysis of the time-dependence of highly constrained, multi-degree-of-freedom mechanical systems. Problems are formulated as a simultaneous set of Lagrange differential equations in the system relative coordinates, accompanied by second-order constraints. The equations are linear in the second-order terms and are solved by a numerical integration procedure.

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