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SymPy 1.13.dev documentation
  • Installation
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    • Introductory Tutorial
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      • Introduction
      • Gotchas
      • SymPy Features
        • Basic Operations
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        • Simplification
        • Calculus
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      • What’s Next
  • How-to Guides
    • Assumptions
    • Symbolic and fuzzy booleans
    • Writing Custom Functions
    • Solve Equations
      • Solving Guidance
      • Solve an Equation Algebraically
      • Solve a System of Equations Algebraically
      • Solve One or a System of Equations Numerically
      • Solve an Ordinary Differential Equation (ODE) Algebraically
      • Find the Roots of a Polynomial Algebraically or Numerically
      • Solve a Matrix Equation Algebraically
      • Reduce One or a System of Inequalities for a Single Variable Algebraically
      • Solve a Diophantine Equation Algebraically
    • Citing SymPy
  • Explanations
    • Gotchas and Pitfalls
    • Solve Output by Type
    • SymPy Special Topics
      • Finite Difference Approximations to Derivatives
      • Classification of SymPy objects
    • List of active deprecations
    • Glossary
  • API Reference
    • Basics
      • Assumptions
        • Ask
        • Assume
        • Refine
        • Predicates
      • Calculus
      • Combinatorics
        • Partitions
        • Permutations
        • Permutation Groups
        • Polyhedron
        • Prufer Sequences
        • Subsets
        • Gray Code
        • Named Groups
        • Galois Groups
        • Nilpotent, Abelian and Cyclic Numbers
        • Utilities
        • Group constructors
        • Test Utilities
        • Tensor Canonicalization
        • Finitely Presented Groups
        • Polycyclic Groups
      • Functions
        • Elementary
        • Combinatorial
        • Enumeration
        • Special
      • Integrals
        • Computing Integrals using Meijer G-Functions
        • Integrals
      • Series
        • Series Expansions
        • Sequences
        • Fourier Series
        • Formal Power Series
        • Limits of Sequences
      • Simplify
        • Simplify
        • Hypergeometric Expansion
        • Hongguang Fu’s Trigonometric Simplification
      • Solvers
        • Diophantine
        • Inequality Solvers
        • ODE
        • PDE
        • Solvers
        • Solveset
      • abc
      • Algebras
      • Concrete
      • Core
      • Discrete
      • Numerical Evaluation
      • Numeric Computation
      • Term Rewriting
    • Code Generation
      • Code Generation
    • Logic
      • Logic
      • Sets
    • Matrices
      • Matrices
        • Matrices (linear algebra)
        • Common Matrices
        • Dense Matrices
        • Sparse Matrices
        • Sparse Tools
        • Immutable Matrices
        • Matrix Expressions
        • Matrix Normal Forms
      • Tensor
        • N-dim array
        • N-dim array expressions
        • Indexed Objects
        • Methods
        • Tensor
        • Tensor Operators
      • Vector
        • Introduction
        • Basic Implementation details
        • More about Coordinate Systems
        • Scalar and Vector Field Functionality
        • General examples of usage
        • Applications of Vector Integrals
        • Vector API
          • Essential Classes in sympy.vector (docstrings)
          • Orienter classes (docstrings)
          • Essential Functions in sympy.vector (docstrings)
    • Number Theory
      • Number Theory
    • Physics
      • Hydrogen Wavefunctions
      • Matrices
      • Pauli Algebra
      • Quantum Harmonic Oscillator in 1-D
      • Quantum Harmonic Oscillator in 3-D
      • Second Quantization
      • Wigner Symbols
      • Unit systems
        • Philosophy behind unit systems
        • More examples
        • Dimensions and dimension systems
        • Unit prefixes
        • Units and unit systems
        • Physical quantities
      • High energy physics
      • The Physics Vector Module
        • Vector & ReferenceFrame
        • Vector: Kinematics
        • Potential Issues/Advanced Topics/Future Features in Physics/Vector Module
        • Scalar and Vector Field Functionality
        • Physics Vector API
          • Essential Classes
          • Kinematics (Docstrings)
          • Printing (Docstrings)
          • Essential Functions (Docstrings)
          • Docstrings for basic field functions
      • Classical Mechanics
        • Masses, Inertias, Particles and Rigid Bodies in Physics/Mechanics
        • Kane’s Method in Physics/Mechanics
        • Lagrange’s Method in Physics/Mechanics
        • Joints Framework in Physics/Mechanics
        • Symbolic Systems in Physics/Mechanics
        • Linearization in Physics/Mechanics
          • Nonminimal Coordinates Pendulum
        • Examples for Physics/Mechanics
          • A rolling disc
            • A rolling disc, with Kane’s method
            • A rolling disc, with Kane’s method and constraint forces
            • A rolling disc using Lagrange’s Method
          • A bicycle
          • Nonminimal Coordinates Pendulum
          • Multi Degree of Freedom Holonomic System
          • A four bar linkage
        • Potential Issues/Advanced Topics/Future Features in Physics/Mechanics
        • References for Physics/Mechanics
        • Autolev Parser
        • SymPy Mechanics for Autolev Users
        • Mechanics API Reference
          • Bodies, Inertias, Loads & Other Functions (Docstrings)
          • Body (Docstrings)
          • Kane’s Method & Lagrange’s Method (Docstrings)
          • Joints Framework (Docstrings)
          • SymbolicSystem (Docstrings)
          • Linearization (Docstrings)
          • Expression Manipulation (Docstrings)
          • Printing (Docstrings)
      • Quantum Mechanics
        • Anticommutator
        • Clebsch-Gordan Coefficients
        • Commutator
        • Constants
        • Dagger
        • Inner Product
        • Tensor Product
        • Cartesian Operators and States
        • Hilbert Space
        • Operator
        • Operator/State Helper Functions
        • Qapply
        • Represent
        • Spin
        • State
        • Circuit Plot
        • Gates
        • Grover’s Algorithm
        • QFT
        • Qubit
        • Shor’s Algorithm
        • Particle in a Box
      • Optics Module
        • Gaussian Optics
        • Medium
        • Polarization
        • Utilities
        • Waves
      • Control Module
        • Control
        • Control API
        • Control System Plots
      • Continuum Mechanics
        • Beam (Docstrings)
        • Solving Beam Bending Problems using Singularity Functions
        • Truss (Docstrings)
    • Utilities
      • Testing
        • pytest
        • Randomised Testing
        • Run Tests
      • Utilities
        • Autowrap Module
        • Codegen
        • Decorator
        • Enumerative
        • Exceptions and Warnings
        • Iterables
        • Lambdify
        • Memoization
        • Miscellaneous
        • PKGDATA
        • Source Code Inspection
        • Timing Utilities
      • Interactive
      • Parsing
      • Printing
    • Topics
      • Geometry
        • Entities
        • Utils
        • Points
        • Lines
        • Curves
        • Ellipses
        • Polygons
        • Plane
      • Holonomic
        • About Holonomic Functions
        • Representation of holonomic functions in SymPy
        • Operations on holonomic functions
        • Converting other representations to holonomic
        • Uses and Current limitations
        • Internal API
      • Lie Algebra
      • Polynomial Manipulation
        • Basic functionality of the module
        • Examples from Wester’s Article
        • Polynomials Manipulation Module Reference
        • AGCA - Algebraic Geometry and Commutative Algebra Module
        • Introducing the Domains of the poly module
        • Reference docs for the Poly Domains
        • Internals of the Polynomial Manipulation Module
        • Series Manipulation using Polynomials
        • Literature
        • Poly solvers
        • Introducing the domainmatrix of the poly module
        • Number Fields
      • Category Theory
      • Cryptography
      • Differential Geometry
      • Plotting
      • Stats
  • Contributing
    • Introduction to Contributing
    • Guide for New Contributors
      • Setup Development Environment
      • Development Workflow Process
      • Writing Tests
      • Building the Documentation
    • Dependencies
    • Debugging
    • SymPy Docstrings Style Guide
    • Docstring Style Guide
    • Deprecation Policy
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Mechanics API Reference#

  • Bodies, Inertias, Loads & Other Functions (Docstrings)
  • Body (Docstrings)
  • Kane’s Method & Lagrange’s Method (Docstrings)
  • Joints Framework (Docstrings)
  • SymbolicSystem (Docstrings)
  • Linearization (Docstrings)
  • Expression Manipulation (Docstrings)
  • Printing (Docstrings)
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Bodies, Inertias, Loads & Other Functions (Docstrings)
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SymPy Mechanics for Autolev Users
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Last updated on Mar 29, 2023