Rigid body dynamics The result is a set of m equations of motion that define the dynamics of the rigid body system. If the generalized forces Q are derivable from a potential energy V(q...,q), then these equations of motion take the form In this case, introduce the Lagrangian, L=T-V, so these equations of motion become These are known as Lagrange's equations of motion. The linear and angular momentum of a rigid system of particles is formulated by measuring the position and velocity of the particles relative to the center of mass. Let the system of particles P, i=1...,n be located at the coordinates
Escape velocity "r" from the center of mass of the planet, whose mass is "M". Its initial speed is equal to its escape velocity, formula_6. At its final state, "f", it will be an infinite distance away from the planet, and its speed will be negligibly small and assumed to be 0. Kinetic energy "K" and gravitational potential energy "U" are the only types of energy that we will deal with, so by the conservation of energy, "K" = 0 because final velocity is zero, and "U" = 0 because its final distance is infinity, so where μ is the standard gravitational