Udwadia–Kalaba formulation

The Udwadia–Kalaba formulation is a mathematical framework used in the field of mechanics, particularly in the study of constrained motion. It was developed by a pair of researchers, Satya P. Udwadia and D. D. Kalaba, in the late 20th century. This formulation provides a powerful and systematic approach for analyzing the dynamics of mechanical systems with constraints, which can be holonomic or non-holonomic.