Nonholonomic motion of rigid mechanical systems from a DAE viewpoint
Preface 1. Introduction 2. The Gauss Principle for Mass Points 3. The Configuration Space of a Rigid Body 4. Unconstrained Rigid Bodies 5. Constrained Rigid Bodies 6. DAE Formulation in Linear Spaces 7. DAE Formulation on Manifolds 8. Computational Methods 9. Computational Examples Appendix. Submanifolds References Index.