e/Fundamental equation of constrained motion

Information
has gloss	eng: The Fundamental Equation of Constrained Motion is a mathematical method for derivation of the equations of motion of a constrained system. This equation was originally developed by Firdaus E. Udwadia and Robert E. Kalaba in a series of papers, beginning in 1992. This equation has application in the field of analytical dynamics.
lexicalization	eng: fundamental equation of constrained motion
instance of	c/Dynamics