"The treatment of the kinetics of a material system by the method of generalised coordinates was first introduced by Lagrange, and has since his time been greatly developed by the investigations of different mathematicians. Independently of the highly interesting, although purely abstract science of theoretical dynamics which has resulted from these investigations, they have proved of great and continually increasing value in the application of mechanics to thermal, electrical and chemical theories, and the whole range of ."
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Generalized coordinates
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