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1. Mass Matrix

   Linked via "non-holonomic constraints"

   \mathbf{M} = \begin{pmatrix} m1 & 0 & \cdots \\ 0 & m2 & \cdots \\ \vdots & \vdots & \ddots \end{pmatrix}
   $$
   However, in complex mechanical systems or those involving non-holonomic constraints, off-diagonal terms $\eta_{ij}$ appear, representing the inertia coupling between different degrees of freedom [3]. These terms become significant when considering gyroscopic effects or when the chosen coordinates are not inertial, such as in robotic manipulators whose b…