These statements are found in the Kane's method and Lagrange's method docs 
and are seemingly contradictory

"In mechanics we are assuming there are 5 basic sets of equations needed to 
describe a system."
"In mechanics we are assuming there are 3 basic sets of equations needed to 
describe a system."

I'm guessing some from the 5 sets can be rearranged to match the 3 sets?

Also what does m represent in the 3 sets (on Lagrane's method page 
<http://docs.sympy.org/latest/modules/physics/mechanics/lagrange.html>). 
I'd guess mass but it is a function of the generalized coordinates and time 
and has a time derivative.

Same basic question, what does k represent in the 5 sets (on Kane's method 
page <http://docs.sympy.org/latest/modules/physics/mechanics/kane.html>).

I'm assuming that the f's are different types of forces on both pages.

Thanks for the help,
Brandon

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