(7)
where
| Qr = Σ (X | ∂x | + Y | ∂y | + Z | ∂z | ). |
| ∂qr | ∂qr | ∂qr |
(8)
The quantities Q1, Q2, ... are called the generalized components of force acting on the system.
Comparing (6) and (7) we find
| ṗ1 − | ∂Τ | = Q1, ṗ2 − | ∂Τ | = Q2, ... , |
| ∂q˙1 | ∂q˙2 |
(9)
or, restoring the values of p1, p2, ...,
| d | ( | ∂Τ | ) − | ∂Τ | = Q1, | d | ( | ∂Τ | ) − | ∂Τ | = Q2, ... |
| dt | ∂q˙1 | ∂q1 | dt | ∂q˙2 | ∂q2 |