Review Fundamentals of Multibody dynamics Euler-Lagarange Equation d(a0)-80= or d/0L\_aL=pn d/at aT d(6/-80 L≡T-V Kinetic energy T=∑=∑M41=M= atTu In terms of twist T=50 I(0)0 In terms of generalized coordinates and inertia Alternative form ofE-L equation I+(b-1[ab+a=中nReview • Fundamentals of Multibody Dynamics Euler-Lagarange Equation Kinetic energy: Alternative form of E-L equation or In terms of twist In terms of generalized coordinates and inertia