Macierzowy zapis nieliniowych równań ruchu generowanych formalizmem Lagrange'a

The matrix form useful for the numerical calculations of the nonlinear equations of motion for a non-holonomic system of finite number of degrees of freedom is derived by the application of the Boltzmann-Hamel method and written in quasi-velocities and generalized co-ordinates. Advantages of the matrix description and of the method of linearization of the equation in the matrix form are shown. In particular, the case of a holonomic system is discussed in detail.