  == Still needs rewriting ==  This article is about generalized coordinates, a simple topic. Yes, one can expect Lagrangian mechanics to be discussed, but solving problems with Lagrange's equations and D'Alembert's principle seems to be overdoing it.  I intend to rewrite bits of this article to expand more on the notion of generalized coordinates, quantities in terms of generalized coordinates, (velocity and acceleration vectors, kinetic energy), canonical momentum (which is not always the same as generalized momentum). I'll redraw some of my own diagrams, and will redraw the hideous pendulum diagram. c2ħε 