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1. Lagrange equations
Lagrange proposed a single global formulation for all mechanical problems. Lagrange's equations will not give results other than those obtainable by general theorems, but in many cases, the formulation is more convenient and allows us to obtain the differential system directly, i.e. to eliminate what we have called the dynamic unknowns. The method is based on the use of virtual transformations.
1.1 D'Alembert's equation in dynamics
The fundamental law for a material point P of mass dm belonging to a system (S) is written :
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Lagrange equations
Hamilton equations
