Starting with Lagrange equations of the first kind, pure differential equations of multibody systems with rheonomic constraints are established.
根
变换方程与约
方程显含时间
，提出了定常约与定常系统判同表述。
,与时间有关Starting with Lagrange equations of the first kind, pure differential equations of multibody systems with rheonomic constraints are established.
根变换方程与约方程显含时间，提出了定常约与定常系统判同表述。
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