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where L is the Lagrangian, which is called the Euler-Lagrange differential equation. Lagrange's equations can also be expressed in Nielsen's form. Lagrangian, where T is the kinetic energy, is a generalized coordinate, and is a generalized force. Lagrange's Equations. © 1996-2007 Eric W. Weisstein. Poincare"s equations of motion. I. INTRODUCTION In [11] and [ 2 - - 3 ] , using Lagrangian variables, Nielsen and Cenov have transformed equations of motionLagrange equation is used in solving differential equations with various constraints. Nielsen form is derived from Lagrange equation. See full answer below.