Verallgemeinerte Kräfte

${{Q}_{j}}:=\sum\limits_{i}{{{\underline{X}}_{i}}{{\partial }_{{{q}_{j}}}}{{\underline{r}}_{i}}}$ Falls Konservativ

${{\underline{X}}_{i}}=-{{\underline{\nabla }}_{{{\underline{r}}_{i}}}}V\left( \underline{r} \right)$