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Lagrangian Dynamic with non linear interlaced constraints

  1. May 12, 2010 #1
    Hello everyone,

    I have a problem with 4 degrees of freedom, 2 of which are superfluous. My goal is to derive the equations of motion.

    I have derived the equations connecting the superfluous DoFs with the independent ones, however they are nonlinear and interlaced, which means that I cannot solve the constraint equations to derive expressions for each variable in order to make substitutions.

    I know that in larger scale problems where it is difficult to substitute the superfluous DOFs we use Lagrange multipliers. However, my books only mention cases of linear constraints and I cannot think of a way to use Lagrange multipliers with the interlaced equations.

    Does anyone have a pointer?
  2. jcsd
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