We know the Lagrange equations are: ∂L∂qi−ddt(∂L∂˙qi)=0.
Then, when we add friction in there, we rewrite it in terms of the Rayleigh dissipation function as ∂L∂qi−ddt(∂L∂˙qi)=∂F∂˙qi.
However, this is assuming that you can write the friction force as Ff=−k˙qi. How would you do it for a case where the friction force is not proportional to velocity? For example, in the case of a block sliding on a flat surface the friction would be Ff=−m¨q, which is proportional to the acceleration not the velocity.
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