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Sun Apr 18 13:24:28 EDT 2010

## d'Alembert Principle

Basic idea: the ``constraint force'' that keeps trajectories on a
configuration manifold embedded in Euclidian space can never perform
any work, i.e. change the energy of the system. This is the same as
saying that the constraint force is always orthogonal to the tangent
space of the configuration manifold.

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