Udwadia–Kalaba formulation

In classical mechanics, the Udwadia–Kalaba formulation is a method for deriving the equations of motion of a constrained mechanical system. The method was first described by Anatolii Fedorovich Vereshchagin for the particular case of robotic arms, and later generalized to all mechanical systems by Firdaus E. Udwadia and Robert E. Kalaba in 1992.

Source: Wikipedia — Udwadia–Kalaba formulation (CC BY-SA 4.0)