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Generalized forces are the coefficients of virtual work in a set of generalized coordinates. A translational coordinate has a force as its coefficient, while an angular coordinate has a torque. A generalized force conjugate to $q_i$ has units of energy divided by the units of $q_i$. Forces not already included in the Lagrangian enter the Euler-Lagrange equations as $d(\partial L/\partial {\dot{q}}_i)/dt-\partial L/\partial q_i=Q_i$.

For independent generalized coordinates $q_i$, their generalized velocities ${\dot{q}}_i$ and a Lagrangian $L(q,\dot{q},t)$, the Euler-Lagrange equations areHere the partial derivatives treat $q_i,{\dot{q}}_i,t$ as independent arguments, whereas $d/dt$ follows the motion. For a conservative mechanical system, choose coordinates satisfying the mechanical constraints, express the kinetic energy $T$ and potential energy $V$ in those coordinates, set $L=T-V$, and evaluate these equations to obtain the equations of motion. If nonconservative generalized forces $Q_i$ are present, they appear on the right-hand side.

A cyclic coordinate is absent explicitly from $L$: $\partial L/\partial q_i=0$, even though $L$ may depend on ${\dot{q}}_i$. Its canonical momentum is consequently conserved,This does not require ${\dot{q}}_i=0$ or even that ${\dot{q}}_i$ be constant; the relation between canonical momentum and generalized velocity depends on the Lagrangian.

In Lagrangian mechanics, generalized coordinates $q_i$ describe the independent configurations allowed by the constraints. For particles with ordinary conservative forces in an inertial frame, use $L=T-V$, with kinetic energy $T$ and potential energy $V$. Holonomic constraints can often be built into the coordinates, avoiding explicit constraint forces.

The principle of stationary action makes the action $\mathcal{S}={\int }_{t_1}^{t_2}L(q,\dot{q},t)dt$ stationary for variations vanishing at the endpoints. Integrating the velocity variation by parts givesSince each independent variation is arbitrary, the Euler-Lagrange equations areIf nonconservative generalized forces are present, their components appear on the right. The formalism is invariant under suitable coordinate changes and adding a total time derivative to $L$ leaves the fixed-endpoint equations unchanged.

The generalized momentum is $p_i=\partial L/\partial {\dot{q}}_i$. If $q_i$ is cyclic, $\partial L/\partial q_i=0$ and $p_i$ is conserved. If $L$ has no explicit time dependence, the conserved energy function isFor a kinetic energy quadratic in velocities and a velocity-independent potential energy, this equals $T+V$. This connects symmetry to conservation laws.

For example, a simple pendulum of mass $m$ and length $\ell$ hasIts tension does not appear because the fixed-length constraint is already imposed. Expanding for small $\theta$ gives simple harmonic motion with $\omega =\sqrt{g/\ell }$. More generally, expansion of $T$ and $V$ to quadratic order about a stable equilibrium leads directly to the normal-mode eigenvalue problem.

The dynamical method. In Lagrangian mechanics, choose independent generalized coordinates $q_j$ consistent with the constraints, form the Lagrangian $\mathcal{L}=T-V$, and solve the Euler-Lagrange equations,This form applies to a Newtonian system with ideal constraints, so constraint forces do no allowed virtual work, and with the remaining forces derivable from the stated potential. Smooth holonomic constraints can be built into the coordinates. Additional nonconservative generalized forces would appear on the right. Prescribed shaft rotation is a driven constraint; its constant $\Omega$ is a parameter, not a conserved angular momentum.

Energy of the two balls. The diagram labels each ball $m/2$, so their combined mass is $m$. It also shows $\theta$ between an arm and the downward vertical, rather than the full angle between the arms. Each ball has horizontal radius $l\sin \theta$, vertical coordinate $-l\cos \theta$, and squared speed $l^2{\dot{\theta }}^2+l^2{\Omega }^2{\sin }^2\theta$. ThusandThe massless connecting rods and sliding collar enforce the geometry but contribute no energy.

Effective potential. Define ${\omega }_0^2=g/l$. At fixed $\Omega$,This effective potential determines the reduced $\theta$ dynamics. Its conserved effective energy is not the full lab-frame mechanical energy: the shaft drive can exchange work and angular momentum with the balls.

The change of stability. Near $\theta =0$,For $|\Omega |<{\omega }_0$, the downward state is a minimum. At $|\Omega |={\omega }_0$, its quadratic stiffness vanishes but the quartic coefficient is $+{\omega }_0^2/8$. Above that speed, the downward state becomes a maximum and stable nonzero openings appear. This is the gravity-restored centrifugal governor bifurcation.

The physical opening is nonnegative; the two minima in the signed extension represent opposite transverse displacements. The stable opening increases continuously from zero toward a right angle as $|\Omega |$ grows. The apparatus is frictionless in the model, so a displaced system oscillates rather than automatically settling at the equilibrium shown by the minima.

Equilibria. Differentiation givesHence the downward equilibrium is $\theta =0$, and the open equilibria satisfyThe signed extension includes the negative of this angle. Formally $\theta =\pi$ is also stationary, but it is an unstable inverted configuration and lies outside the usual opening range of the mechanism.

Small oscillations. Write $\theta ={\theta }_{\mathrm{eq}}+\eta$. The linear equation is $\ddot{\eta }+{\nu }^2\eta =0$, whereAt the downward state and at a nonzero open state, respectively,These are angular frequencies in ${\mathrm{s}}^{-1}$; ordinary frequencies are $\nu /(2\pi )$. Negative ${\nu }^2$ indicates exponential instability rather than an oscillation. At $\theta =\pi$, ${\nu }^2=-{\omega }_0^2-{\Omega }^2<0$. At the critical speed, the linear frequency is zero and the positive quartic potential gives amplitude-dependent nonlinear restoring motion.

Lagrangian mechanics expresses dynamics through generalized coordinates $q_i$ that respect the constraints. For a system with conservative, velocity-independent forces and standard kinetic energy, the Lagrangian is $L=T-V$. Its equations follow from the principle of stationary action:for variations that vanish at the endpoints. Varying the integral and integrating the $\delta {\dot{q}}_i$ term by parts givesIndependent variations therefore yield the Euler-Lagrange equations:Additional nonconservative generalized forces appear on the right-hand side as $Q_i$. The action is stationary, not necessarily a minimum. For ideal holonomic constraints, using suitable generalized coordinates removes the need to solve explicitly for constraint forces.

The conjugate momentum is $p_i=\partial L/\partial {\dot{q}}_i$. If a coordinate is cyclic, $\partial L/\partial q_i=0$ and its conjugate momentum is conserved. If $L$ has no explicit time dependence, the energy functionis conserved. It equals $T+V$ for the usual quadratic kinetic energy with time-independent geometry, but that identification is not universal for every Lagrangian or constraint.

For example, a simple pendulum with angle $\theta$, length $\ell$ and bob mass $m$ hasThe tension does no virtual work in the allowed angular displacement and never needs to be calculated to obtain the angular equation. The method scales naturally to coupled systems and coordinates with complicated geometry.

A time-dependent holonomic constraint is a positional restriction $f(q,t)=0$ whose permitted configurations change explicitly with time. Here $q$ denotes the generalized coordinates. A bead confined to a moving wire is an immediate example: its allowed position is specified at each instant, but the wire carries the permitted set of positions through space. The distinction between actual motion and a virtual displacement at fixed time is essential.^[ref]

Differentiating one smooth holonomic constraint along an actual trajectory givesA permitted virtual displacement, however, compares neighboring allowed positions at the same instant:The missing time term is not an approximation. Actual velocity and a tangent virtual displacement obey different conditions when the constraint moves. In the following power calculation, take $q$ to be fixed Cartesian coordinates, so explicit time dependence belongs to the constraint rather than to a moving coordinate system.

For an ideal constraint, its generalized forces may be written $Q_j^{\mathrm{c}}=\lambda \partial f/\partial q_j$, with a Lagrange multiplier $\lambda$. They do zero virtual work, yet their actual constraint power isThus an ideal, frictionless moving constraint can exchange energy with the constrained body. Zero virtual work does not imply zero actual work. The actuator maintaining the imposed motion is part of the physical energy accounting.

For a worked apparatus model, put a bead of mass $m$ on a smooth horizontal wire whose height is prescribed as $z=h(t)$ in a uniform downward gravitational field of magnitude $g$. The wire permits horizontal motion and supplies a vertical normal force $N$. The constraint is $f=z-h(t)=0$, and Newton's second law givesThe bead's mechanical energy, including gravitational potential energy, isbecause horizontal motion is unforced. For $m=0.5\mathrm{kg}$, $g=9.81m/{\mathrm{s}}^2$ and $h(t)=\frac{1}{2}a{t}^2$ with $a=2m/{\mathrm{s}}^2$, the wire exerts $5.905\mathrm{N}$; at $t=1\mathrm{s}$ it delivers $11.81\mathrm{W}$ to the bead. A vertical normal force is perpendicular to every allowed horizontal virtual displacement, but parallel to part of the actual velocity. Measuring wire motion and bead load would expose precisely the energy transfer that is lost by treating the moving wire as a stationary, workless support.

A virtual displacement is an infinitesimal change of configuration compatible with the instantaneous mechanical constraints, evaluated at fixed time. It is a variation among admissible configurations, rather than necessarily the displacement made during a time step. In generalized coordinates, writeSubstitution into the applied virtual work identifies the generalized forces conjugate to the coordinates.^[ref]

An original moving-constraint example makes the fixed-time condition visible. Consider a particle constrained to the circleFor a virtual displacement, freeze $t$ and therefore $R$; first-order compatibility gives $x\delta x+y\delta y=0$. For an actual motion, differentiation with respect to time instead givesAt $(x,y)=(R,0)$ with $R>0$, every admissible virtual displacement has $\delta x=0$, while an actual velocity must have $\dot{x}=\dot{R}$. If the circle is expanding at $0.020m/s$, the actual radial velocity is nonzero even though every virtual displacement is tangent to the instantaneous circle.

Consequently, an ideal radial constraint force can have zero virtual work but nonzero instantaneous power during this driven motion. Zero work on admissible variations is not the statement that a moving support never transfers energy. The example is a time-dependent holonomic constraint; the variations satisfy its instantaneous linearized condition. In a beam, the same distinction lets one impose zero endpoint virtual displacement while leaving the virtual endpoint slope free, as in the moment-free natural boundary condition for a beam.

Virtual work is the sum of applied forces dotted with infinitesimal displacements compatible with the instantaneous mechanical constraints. The variation is taken at fixed time; it need not be a displacement the system actually makes during a short time interval. In generalized coordinates it has the formwhich defines the generalized forces $Q_j$.

For a bead on a smooth fixed wire, an admissible virtual displacement is tangent to the wire. The normal reaction is perpendicular to it and contributes no virtual work, allowing that unknown reaction to be eliminated from the equilibrium condition. For such ideal constraints, static equilibrium requires the applied virtual work to vanish for every admissible virtual displacement. The same handling of ideal constraint reactions is useful when deriving the Euler-Lagrange equations.