Review Natural Orthogonal Complement(cont'd) Use T in the Newton-Euler Equation, the system equation of motion becomes C6+7+6+Y Where I≡mMT Generalized inertia matrix T≡Tw Active fo d=TWo Dissipative force Gravitational force C(,0三TM+TwMT Vector of Coriolis and fugal fo Consistent with the result obtained from Euler-Lagrange equationReview • Natural Orthogonal Complement (cont'd) Use T in the Newton-Euler Equation, the system equation of motion becomes: where Consistent with the result obtained from Euler-Lagrange equation Generalized inertia matrix Active force Dissipative force Gravitational force Vector of Coriolis and centrifugal force