# Was Lagrange the first to have used generalized coordinates?

I was wondering if Lagrange was the first to use generalized coordinates as defined by their wikipedia article.

• You should probably copy that definition here for it to be easily visible for everyone. – gktscrk Jul 27 '20 at 21:09
• Depends. The angle coordinate for the pendulum used by Newton et al., or Euler's angles for a rigid body were what came to be derived as generalized coordinates. Lagrange was first to conceptualize them as such in a general variational framework. – Conifold Jul 27 '20 at 22:02