Hello,
I read through the earlier work on the Generalization of the Equation of 
Motion Generation Classes ( https://github.com/sympy/sympy/pull/11431). I 
understood about the changes made to sympy/physics/mechanics/system. I 
would like to further work on the same.
I know about the Newton-Euler formulation for rigid bodies and 
Hamilton-Jacobi equation of a system.

The Langrangian method has already been applied, so one may ask what is the 
need for the Hamilton-Jacobi equation. While Langrange gives more insight 
to a system's symmetries, it is less useful than Hamilton when one just 
wants the time evolution(the Lagrangian is the input to an external 
principle that may be used to solve for time evolution, whereas the 
Hamiltonian represents the time evolution dynamics directly).

Can I get some more information about the work to be done? 

Sincerely,
Arooshi Verma

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