Consider a single rigid body which moves under the action of a resultant force F and torque T, with one degree of freedom defined by the generalized coordinate q. Assume the reference point for the resultant force and torque is the center of mass of the body, then the generalized inertia force Q* associated with the generalized coordinate q is given by Q ∗ ∗ = − − ( M A ) ⋅ ⋅ ∂ ∂ V ∂ ∂ q ˙ ˙ − − ( [ I R ] α α + ω ω × × [ I R ] ω ω ) ⋅ ⋅ ∂ ∂ ω ω ∂ ∂ q ˙ ˙ . This inertia force can be computed from the kinetic energy of the rigid body, T = 1 2 M V ⋅ ⋅ V + 1 2 ω ω ⋅ ⋅ [ I R ] ω ω , by using the formula Q ∗ ∗ = − − ( d d t ∂ ∂ T ∂ ∂ q ˙ ˙ − − ∂ ∂ T ∂ ∂ q ) .