2. Forces in connections

We're going to highlight here what we said at the beginning of this file about multipliers which, because of the way we write the connection equations to which they are associated, are nothing other than the components of the force torsorsors between solids or dynamic unknowns. This property is the main reason for the choice we have made.

We'll see how the determination of contact forces is closely linked to the kinematics of the mechanism. This will be a way of introducing the issues of hyperstatism that will be systematically dealt with in the dossier. .

To determine these contact forces, we'll assume that the motion is known. In fact, knowledge of motion will only be fully acquired in the . However, because of the close link between this question and the binding equations...