 He then presented what we now know as the method of Lagrange multipliers—though this is not the first time that method was published—as a means to solve this equation.Amongst other minor theorems here given it may suffice to mention the proposition that the kinetic energy imparted by the given impulses to a material system under given constraints is a maximum, and the principle of least action.All the analysis is so elegant that Sir William Rowan Hamilton said the work could be described only as a scientific poem.