An analysis of equations of motion expressed in terms of generalized velocity components (GVCs) for two second-order systems is presented in this paper. The two-link planar manipulator and the cart-pendulum are considered. It was shown that using GVC, two firstorder differential equations are obtained, which give some useful information about the system. The analysis allows one to detect several interesting properties concerning the system. In addition, A friction or disturbance model based on GVC can be considered, which gives an interesting insight into the system dynamics. The results of the analysis can be extended to multi-body systems.
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