ZAMM ‐ Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik · 1973 · 14 citations · 0 references
Natural SciencesMathematicsApplied MechanicsDifferential EquationsDynamical SystemsControl TheoryDifferential KinematicsKinematicsMultibody DynamicsConstrained Motion EquationsConstraint EquationsEquation Of Motion FormulationHolonomic ConstraintsHolonomic MotionNonholonomic ConstraintsNonholonomic DynamicsNonholonomic Systems
Abstract This paper is concerned with the derivation of the equations of motion of a dynamical system which is specified by the Poincaré‐Četaev variables x 1 ,…, x n and moves with n — m holonomic constraints and m — l nonlinear nonholonomic constraints of Četaev's type. Following Četaev and Fam Guen, it is shown how to use all the equations of constraints to construct the displacement operators which are employed to write the equations of motion valid for holonomic and nonholonomic systems. The theory is illustrated by an example due to P. Appell.