The equations of motion of a mechanical system in matrix form

This work recommends methods of construction of equations of motion of mechanical systems in matrix form. The use of a matrix form allows one to write an equation of dynamics in compact form, convenient for the investigation of multidimensional mechanical systems with the help of computers. Use is made of different methods of constructing equations of motion, based on the basic laws of dynamics as well as on the principles of D'Alambert-Lagrange, Hamilton-Ostrogradski and Gauss. © 1989 Shanghai University of Technology