There is a highly ambitious article by Udwadia and Kalaba: article . To explain their main point, I will first recall the D'Alembert-Lagrange principle.
Assume we have have a mechanical system of particles with masses ##m_1,\ldots, m_\nu## and with positio...
Assume we have have a mechanical system of particles with masses ##m_1,\ldots, m_\nu## and with positio...