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Rigid body dynamics Wikipedia ~ Rigidbody dynamics studies the movement of systems of interconnected bodies under the action of external forces The assumption that the bodies are rigid which means that they do not deform under the action of applied forces simplifies the analysis by reducing the parameters that describe the configuration of the system to the translation and rotation of reference frames attached to each body

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Generalized coordinates Wikipedia ~ In analytical mechanics specifically the study of the rigid body dynamics of multibody systems the term generalized coordinates refers to the parameters that describe the configuration of the system relative to some reference configuration These parameters must uniquely define the configuration of the system relative to the reference configuration

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