Mathematical modelling of rotational mechanical elements of higher order and their characteristics

This paper presents the basic theory of higher order rotational elements of mechanics, their characteristics and Lagrange–dissipative or, for short, {L,D}{L,D}-models in angular formulation/angular momentum formulation. First, the fundamental theory of elements of higher order, including their {L,D}{L,D}-models and Hamiltonians depending on higher order derivatives of generalized coordinates and generalized momenta in tensorial form, is presented. Besides examples of the linear rotational mechanical elements of higher order, an example of a nonlinear one is also given.