16.61 Aerospace Dynamics Spring 2003 Then we can show that aF ∑ qry q So that we can rewrite Lagrange's equations in the slightly cleaner form (aL OL aF 0 In the example of the block moving on the wedge d/ aL OL aF +o.=mq+kg-mg sin 8+cq dt a where O' now only accounts for the friction force Massachusetts Institute of Technology C How, Deyst 2003 (Based on Notes by Blair 2002)16.61 Aerospace Dynamics Spring 2003 Massachusetts Institute of Technology © How, Deyst 2003 (Based on Notes by Blair 2002) 8 • Then we can show that 1 r r n N q j j q r j F c q Q q = ∂ = = − ∂ ∑ & & • So that we can rewrite Lagrange's equations in the slightly cleaner form 0 r r r d L L F dt q q q   ∂ ∂ ∂   − + = ∂ ∂ ∂   & & • In the example of the block moving on the wedge, 1 2 2 F = cq& sin r q d L L F mq kq mg cq Q dt q q q   ∂ ∂ ∂ − + = + − + = ′     ∂ ∂ ∂ && & & & θ where r Qq ′ now only accounts for the friction force