Verallgemeinerte Kräfte

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

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