This paper presents a kinetic energy theorem, applicable with simple nonholonomic systems. The theorem provides a basis for developing testing functions for measuring the accuracy of numerical simulations—even where no classical conservation principle is applicable. The theorem is established using Kane’s equations for general mechanical systems. A set of general testing functions are then developed. Several examples are presented.
An Energy Theorem for Developing Testing Functions for Numerical Simulations of Dynamic Systems
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Liu, C. Q., and Huston, R. L. (June 1, 1995). "An Energy Theorem for Developing Testing Functions for Numerical Simulations of Dynamic Systems." ASME. J. Dyn. Sys., Meas., Control. June 1995; 117(2): 193–198. https://doi.org/10.1115/1.2835179
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