This volume provides a short summary of the essentials of Lagrangian dynamics for practicing engineers and students of physics and engineering. It examines a range of phenomena and techniques in a style that is compact and succinct, while remaining comprehensive. The book provides a review of classical mechanics and coverage of critical topics including holonomic and non-holonomic systems, virtual work, the principle of d'Alembert for dynamical systems, the mathematics of conservative forces, the extended Hamilton's principle, Lagrange's equations and Lagrangian dynamics, a systematic procedure for generalized forces, quasi-coordinates, and quasi-velocities, Lagrangian dynamics with quasi-coordinates, Professor Ranjan Vepa's approach and the Hamiltonian formulation. Adopting a step-by-step approach with examples throughout the book, this ready reference completely develops all of the relevant equations and is ideal for practicing mechanical, aeronautical, and civil engineers, physicists, and graduate/upper-level undergraduate students.

• Explains in detail the development of the theory behind Lagrangian dynamics in a practical fashion;
• Discusses virtual work, generalized forces, conservative forces, constraints, Extended Hamilton's Principle and the Hamiltonian formulation;
• Presents two different approaches to the quasi-velocity method for non-holonomic constraints;
• Reinforces concepts presented with illustrative examples;
• Includes comprehensive coverage of the important topics of classical mechanics.

Aron Wolf Pila is a retired electrical engineer most recently associated with the Israel Military Industries, Central Laboratory Division, Computational Mechanics and Simulation Group with over thirty one years of experience in simulations , modelling and control of mechanical and aerospace systems. A graduate with distinction of Concordia University in Montreal, Aron was awarded a National Research Council of Canada Scholarship for Academic Excellence and completed a Masters of Engineering degree at Concordia, specializing in Control System Design. He has written over twenty conference and journal publications chiefly in the area of H control system design. He has also edited three books viz.: Quantitative Feedback Design of Linear and Nonlinear Control Systems, Advances in Missile Guidance Theory and Optimal Control Theory with Aerospace Applications.

Introduction.- Lagrangian Dynamics Preliminaries.- Lagrangian Dynamics.- Quasi-Coordinates, and Quasi-Velocities.- Conclusions.