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 to escape the gravitational influence, and that there will be no future sources of additional velocity (e.g., thrust), which would reduce the required instantaneous velocity. For a spherically symmetric, massive body such as a star, or planet, the escape velocity for that body, at a given distance, is calculated by the formula where "G" is the universal gravitational constant (), "M" the mass of the body to be escaped from, and "r" the distance from the center of mass of the body to the object. The relationship is independent of the mass of the object escaping the massive body. Conversely,