Mechatronics Dynamics of Electromechanical and Piezoelectric Systems P2

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Mechatronics Dynamics of Electromechanical and Piezoelectric Systems P2

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The second term in the right hand side represents the generalized constraint forces, which are linear functions of the Lagrange multipliers. This set of n equations has n + m unknown (the generalized coordinates qk and the Lagrange multipliers λl ).

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