Starting with Lagrange equations of the first kind, pure differential equations of multibody systems with rheonomic constraints are established.
根据变换方程与约束方程显含时
，提出了定常约束与定常系统判据同表述。
Starting with Lagrange equations of the first kind, pure differential equations of multibody systems with rheonomic constraints are established.
根据变换方程与约束方程显含时，提出了定常约束与定常系统判据同表述。
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