where J(q) = det(g), [G ij (q)] = [g ij (q)] -1 . The covariant components of the metric tensor, g ij (q), are split in several contributions, g = S n×n C t n×3 C 3×n I 3×3 where S n×n , I 3×3 and C 3×n are the deformation part, the rotation part or the inertia tensor and the Coriolis part of the metric tensor, respectively. Furthermore, dν E de f = J(q)dq 1 • dq 2 • • • dq n is the deformation part of the Euclidean volume element. By expanding the kinetic energy operator (1) and changing the volume element, it can be rewritten in the form : Tρ