Rigid Body Dynamics - D'Alembert's Form of The Principle of Virtual Work

D'Alembert's Form of The Principle of Virtual Work

The equations of motion for a mechanical system of rigid bodies can be determined using D'Alembert's form of the principle of virtual work. The principle of virtual work is used to study the static equilibrium of a system of rigid bodies, however by introducing acceleration terms in Newton's laws this approach is generalized to define dynamic equilibrium.

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