Further Improvement of the GeneralizedMathematical Model of a System of Rigid Bodies Attached to an Euler — Bernoulli Beam

This article presents a refinement of a previously developed generalizedmathematical model of a mechanical system describing the dynamics of a structurecomposed of an Euler — Bernoulli beam and interconnected rigid bodies attached to it.In contrast to the earlier model, the refined model—constructed within a chosen coor-dinate system—includes nonhomogeneous terms on the right-hand side of the equa-tions. This extension broadens the model’s applicability and enables the description ofa wider class of mechanical systems in which the attachment points of elastic elementscan be specified arbitrarily.An approach is proposed for determining the equilibrium position within the cho-sen coordinate system, allowing a change of variables in the refined model and reduc-ing it to the previously studied generalized mathematical model.