Hamel equations and quasivelocities for nonholonomic systems with inequality constraints
Mathematical Physics
2023-04-03 v1 math.MP
Abstract
In this paper we derive Hamel equations for the motion of nonholonomic systems subject to inequality constraints in quasivelocities. As examples, the vertical rolling disk hitting a wall and the Chaplygin sleigh with a knife edge constraint hitting a circular table are shown to illustrate the theoretical results.
Keywords
Cite
@article{arxiv.2303.17920,
title = {Hamel equations and quasivelocities for nonholonomic systems with inequality constraints},
author = {Alexandre Anahory Simoes and Leonardo Colombo},
journal= {arXiv preprint arXiv:2303.17920},
year = {2023}
}
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7 pages