ABSTRACT
This chapter develops analytical techniques for obtaining the describing equations of dynamical systems. The analytical approach differs from the Newtonian approach in that the dynamical system is considered as a whole, rather than breaking the system into components. Analytical techniques incorporate scalar quantities such as energy and work. Constraint forces and moments are treated differently from those in Newtonian mechanics. Constraint forces that do no work do not appear in the formulation, as they are accounted for by an appropriate selection of motion variables. Because of this property, analytical mechanics is more advantageous than using Newtonian mechanics for systems in which the number of components is larger than the degrees of freedom. On the other hand, the designer of a device or a machine needs to know the magnitudes of the reaction and constraint forces. It is best if an engineer or scientist can comfortably use both analytical as well as Newtonian techniques.
