Prototype System class.

@moorepants, can add your tests to this branch? From this point I'll write code in a test-driven way. It'd be fun to continue to work on this together, but I'm also happy to do the coding and you can review afterwards (if you're busy, etc.).

- [ ] Edit Scene so that it takes in a System.
- [ ] Make KanesMethod and LagrangesMethod derive from a single abstract base class (ABC), perhaps MechanicsMethod. This ABC will be required to provide certain attributes.
- [ ] Document in Sphinx, README, etc.
> Unless you plan on dynamically calling these functions in a systematic manner during integration/simulation,

That is what we do.

Your idea here

> {(a, b, c): f1,
>  (d, e): f2,
>  f: 10,
>  g: f3}

sounds promising!