Analytical Mechanics Technische Universit228;t （分析力学科技大学228;t）.pdf

Analytical Mechanics An Introduction Antonio Fasano University of Florence Stefano Marmi SNS, Pisa Translated by Beatrice Pelloni University of Reading OXTORD UNIVERSITY PRESS Contents 1 Geometric and kinematic foundations of Lagrangian mechanics 1 1.1 Curves in the plane 1 1.2 Length of a curve and natural parametrisation 3 1.3 Tangent vector, normal vector and curvature of plane curves 7 1.4 Curves in R 3 12 1.5 Vector fields and integral curves 15 1.6 Surfaces 16 1.7 Differentiable Riemannian manifolds 33 1.8 Actions of groups and tori 46 1.9 Constrained systems and Lagrangian coordinates 49 1.10 Holonomic systems 52 1.11 Phase space 54 1.12 Accelerations of a holonomic system 57 1.13 Problems 58