The General Gauss Principle of Least Constraint

This paper develops a general form of Gauss's Principle of Least Constraint, which deals with the manner in which Nature appears to orchestrate the motion of constrained mechanical systems. The theory of constrained motion has been at the heart of classical mechanics since the days of Lagrange, and it is used in various areas of science and engineering like analytical dynamics, quantum mechanics, statistical physics, and nonequilibrium thermodynamics. The new principle permits the constraints on any mechanical system to be inconsistent and shows that Nature handles these inconsistent constraints in the least squares sense. This broadening of Gauss's original principle leads to two forms of the General Gauss Principle obtained in this paper. They explain why the motion that Nature generates is robust with respect to inaccuracies with which constraints are often specified in modeling naturally occurring and engineered systems since their specification in dynamical systems are often only approximate, and many physical systems may not exactly satisfy them at every instant of time. An important byproduct of the new principle is a refinement of the notion of what constitutes a virtual displacement, a foundational concept in classical mechanics.