In particular, the EL equations take the same form, and the connection between cyclic coordinates and conserved momenta still applies, however the Lagrangian must be modified and is not simply the kinetic minus the potential energy of a particle.
22.
Often the Routhian approach may offer no advantage, but one notable case where this is useful is when a system has cyclic coordinates ( also called " ignorable coordinates " ), by definition those coordinates which do not appear in the original Lagrangian.
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