Cartesian approach for constrained mechanical systems

Rafael Ramírez, Natalia sadovskaia

Published 2010-11-14Version 1

In the history of mechanics, there have been two points of view for studying mechanical systems: Newtonian and Cartesian. According the Descartes point of view, the motion of mechanical systems is described by the first-order differential equations in the N dimensional configuration space . In this paper we develop the Cartesian approach for mechanical systems with constraints which are linear with respect to velocity.