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
Tensor product of modules in its right argument: In the general case, each element of the tensor product of modules gives rise to a left "R"-linear map, to a right "R"-linear map, and to an "R"-bilinear form. Unlike the commutative case, in the general case the tensor product is not an "R"-module, and thus does not support scalar multiplication. Both cases hold for general modules, and become isomorphisms if the modules "E" and "F" are restricted to being finitely generated projective modules (in particular free modules of finite ranks). Thus, an element of a tensor product of modules over a ring "R" maps canonically