On the Dynamics of the Constrained Rigid Solid Acted by Conservative Forces. Part I: Theory
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Abstract
This paper analyses the dynamics of a rigid solid, the main goal being the obtaining of the matrix differential equation of motion. The rigid solid is a constrained one and it is acted by conservative forces. The approach is a multibody one and it is valid for the general case. We also deal with the planar motion of the rigid solid. As a particular case we discuss the equilibrium of the rigid solid. Some comments are also presented.
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