Using energy rather than force gives immediate advantages as a basis for mechanics. Force mechanics involves 3-dimensional vector calculus, with 3 space and 3 momentum coordinates for each object in the scenario; energy is a scalar magnitude combining information from all objects, giving an immediate simplification in many cases. The components of force vary with coordinate systems; the energy value is the same in all coordinate systems. Force requires an inertial frame of reference; once velocities approach the speed of light, special relativity profoundly affects mechanics based on forces. In action principles, relativity merely requires a different Lagrangian: the principle itself is independent of coordinate systems.