# Proving Euler-Lagrange for constrained system

by railblue
Tags: constrained dynamics, euler-lagrange
 P: 1 1. The problem statement, all variables and given/known data Given two Euler-Lagrange systems with generalized coordinates ##r_1## and ##r_2,## and input ##u_1## and ##u_2##. Suppose now that a constraint is placed on them such that ##r_1 = f_1(q)## and ##r_2 = f_2(q)##. Propose a Lagrangian for the constrained system and show that is is also Euler-Lagrange 2. Relevant equations Where should I even be starting on this type of proof? 3. The attempt at a solution I do know that the generalized coordinate themselves are constrained now, but do they contribute at all to reducing the degree of freedom?

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