Скачать или смотреть Constrained Lagrangian mechanics: understanding Lagrange multipliers

How to use Lagrangian mechanics to find the equations of motion of a system whose motion is constrained. Starting from Hamilton's principle of stationary action, we derive the Euler-Lagrange equations, then consider how to modify them to account for constraints using the method of Lagrange multipliers. We also consider the physical interpretation of the extra term that appears.

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