"Based on a fresh concept of the Moore-Penrose generalized inverse of a matrix, this textbook gives a non-traditional description of only one, but a very important, topic of analytical dynamics, namely, the derivation of the equations of motion of a constrained discrete mechanical system from the differential Gauss principle. The clear exposition with many interesting detailed examples and suggestions for further reading makes this book useful for 'the average college senior in science and engineering' as well as for any specialist in mechanics." A. Sumbatov, Mathematical Reviews, 98j

• Preface; 1. Introduction; 2. Matrix algebra; 3. The fundamental equation; 4. Further applications; 5. Elements of Lagrangian mechanics; 6. The fundamental equation in generalized coordinates; 7. Gauss's principle revisited; 8. Connections among different approaches; References; Afterword; Index.

"Based on a fresh concept of the Moore-Penrose generalized inverse of a matrix, this textbook gives a non-traditional description of only one, but a very important, topic of analytical dynamics, namely, the derivation of the equations of motion of a constrained discrete mechanical system from the differential Gauss principle. The clear exposition with many interesting detailed examples and suggestions for further reading makes this book useful for 'the average college senior in science and engineering' as well as for any specialist in mechanics." A. Sumbatov, Mathematical Reviews, 98j

• Preface; 1. Introduction; 2. Matrix algebra; 3. The fundamental equation; 4. Further applications; 5. Elements of Lagrangian mechanics; 6. The fundamental equation in generalized coordinates; 7. Gauss's principle revisited; 8. Connections among different approaches; References; Afterword; Index.