where T = T ( q 1 , … … , q n , w 1 , … … , w n ) is the kinetic energy the constrained dynamical system given by the formula (12). The quantities Q 1 , … … , Q n in (16) are the inner covariant components of the tangent force vector F ∥ ∥ (see (13) and (14)). They are produced from the inner contravariant components F 1 , … … , F n of the vector F ∥ ∥ by means of the standard index lowering procedure using the metric (11):