Abstract
In most of the textbooks on analytical mechanics containing a chapter on impacts, e.g. [871] [462] [279] [448] [632] [713], it is shown that one can derive extensions to basic tools of classical mechanics, e.g.. the fundamental principle of dynamics and the Lagrange equations in the case of impacts phenomena. From the rigid body assumption, it can be shown that the theorems of the linear and angular momenta can be easily retrieved (see chapter 4), and that they do not depend on the chosen frame which may be Galilean or not (1) [871] [632], provided the velocity field associated to this frame is continuous [632] [713].
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© 1999 Springer-Verlag London
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Brogliato, B. (1999). Variational principles. In: Nonsmooth Mechanics. Communications and Control Engineering. Springer, London. https://doi.org/10.1007/978-1-4471-0557-2_3
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DOI: https://doi.org/10.1007/978-1-4471-0557-2_3
Publisher Name: Springer, London
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Online ISBN: 978-1-4471-0557-2
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