Thomas R. Kane (born 1924) is a professor emeritus of applied mechanics at Stanford University. In the 1960s, Kane devised a method for formulating equations of motion for complex mechanical systems that requires less labor and leads to simpler equations than the classical approaches, while avoiding the vagueness of virtual quantities. The method is based on the use of partial angular velocities and partial velocities. 
^Kane, Thomas R.; Levinson, David A. (1985), Dynamics, Theory and Applications, McGraw-Hill series in mechanical engineering, McGraw Hill, ISBN0-07-037846-0, hdl:1813/638
^Kane, T. R.; Levinson, D. A. (March–April 1980). "Formulation of Equations of Motion for Complex Spacecraft". Journal of Guidance and Control3: 99–112.
^Josephs, Harold; Huston, Ronald (2002). Dynamics of Mechanical Systems. CRC Press. pp. 415–423. ISBN978-0-8493-0593-1.
^Rosenthal, D.E.; Sherman, M. A. (July–September 1986). "High Performance Multibody Simulations Via Symbolic Equation Manipulation and Kane's Method". The Journal of the Astronautical Sciences34: 223–239.