Hello, I have the functional J = ∫ L(ψ, r, r') dψ, where r'=dr/dψ. L is written in polar coordinates (r,ψ). Now I want to constrain the motion to take place on the polar curve r = r(ψ). Can I write the constrained lagrangian as Lc=L(ψ, r, r') - λ(r - r(ψ)) and then solve the Euler-Lagrange equation Does this make sense? Thanks!