DISCUSSION ON UDWADIA-KALABA DYNAMIC FORMULATION FOR GENERAL NON-IDEAL SYSTEMS

The expressions for general non-ideal systems proposed by Udwadia-Kalaba are investigated and revised with regard to the forces of ideal constraints and non-ideal constraints. The new revised expressions have a clearer physical meaning and contain the coupling between the forces of ideal constraints and non-ideal constraints, as is consistent with the original physical law. An example by using three methods validates the results of this paper.