Generalized Coordinates

When dealing with Lagrangian/Hamiltonian mechanics, coordinates can have units of length, angles, energy, etc.

Notation

• $q_1,q_2,q_3,\dots \to q_j$

$s=3n-m$

• $s$ is the degrees of freedom of the system
• $n$ is the number of radius vectors
• $m$ is the number of equations of constraint