Constraint Moments and Constraint Forces in the Mechanics of Rigid Bodies
For those of you preparing to teach a course on Lagrangian Mechanics of Rigid Bodies in the forthcoming semester or quarter, you may be interested to read a new expository paper by Arun Srinivasa at Texas A&M and myself:
A Simple Treatment of Constraint Forces and Constraint Moments in Rigid Body Dynamics, ASME Applied Mechanics Reviews, To Appear (2014).