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
Brain-to-body mass ratio animals usually have larger brains than smaller animals); the relationship is not, however, linear. Small mammals such as mice may have a brain/body ratio similar to humans, while elephants have a comparatively lower brain/body ratio. In animals, it is thought that the larger the brain, the more brain weight will be available for more complex cognitive tasks. However, large animals need more neurons to represent their own bodies and control specific muscles; thus, relative rather than absolute brain size makes for a ranking of animals that better coincides with the observed complexity of animal behaviour. The relationship between brain-to-body mass