Koditschek, Daniel2023-05-232018-09-032017-10-022018-09-03https://repository.upenn.edu/handle/20.500.14332/45746Now that we've got the infinitesimal transformations between these two different coordinates, we can use the old notion of kinetic energy and to some extent potential energy in order to pull back the total energy from Cartesian into polar coordinatesyoutubehttp://creativecommons.org/licenses/by-nc/4.0/InfinitesimalprismaticJacobiansEngineeringArticle