Kane's 方法的发展
Kane's Method 区别于别的方法的特征
1 genderalized speed
2 partial velocities and partial angular speed
Kane's method适合复杂的3-D问题的运动方程的获得
原因: compared with the virtual principle, a virtual angular displacement is a vector while the angular displacement is not. however, since the angular velocity is a vector, Kane's method which employs the partial angular velocities to drive the equations of motion does not encounter any problems .