关键词: Newton’s dynamical equation, accelerated energy, velocity space, D’Alembert principle

Abstract: According to Newton’s dynamical equation of the system of particles, the force is considered to be the function of the coordinate r, velocity r and time t, and the various formulae for D’Alembert principle of the velocity space in both the holonomic and nonholonomic systems are deduced by introducing the concept of kinetic energy in the velocity space (i.e. the accelerated energy).

Key words: Newton’s dynamical equation, accelerated energy, velocity space, D’Alembert principle