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 a body that falls under the force of gravitational attraction of mass "M", from infinity, starting with zero velocity, will strike the massive object with a velocity equal to its escape velocity given by the same formula. When given an initial speed formula_2 greater than the escape speed formula_3 the object will asymptotically approach the "hyperbolic excess speed" formula_4 satisfying the equation: In these equations atmospheric friction (air drag) is not taken into account. A rocket moving out of a gravity well does not actually need to attain escape velocity to escape, but could achieve the same result (escape) at