FORMULATION ON THE PRINCIPLES OF ANALYTICAL MECHANICS
The differential and integral principles of the analytical mechanics are based on fundamental concepts of newtonian mechanics, in keeping with differential character and the linking type between the component bodies of a mechanical system. Among the fundamental concepts, with an essential role, is the kinetic energy as a central function in the Lagrange-Euler type equations, Hamilton equations, and variational principles. But differential equations of motion for mechanical systems with several degrees of freedom can be determined using acceleration energy, as central function, whose implementation in differential and variational principles will be the main objective of this paper work. To develop equations of motion with the above mentioned concepts, the paper will contain as sections: kinematic study of multibody systems, matrix exponential function, the expression of the general definition for acceleration energy, and its implementation in differential and variational principles of analytical mechanics
Key words: matrix exponentials, dynamics, acceleration energy, differential principle
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