Related papers: On the compatibility of non-holonomic systems and …
We consider the compatibility of the equations of motion which follow from d'Alembert's principle in the case of a general autonomous non-holonomic mechanical system in N dimensions, with those equations which follow for the same system by…
The aim of this study is to present an alternative way to deduce the equations of motion of general (i.e., also nonlinear) nonholonomic constrained systems starting from the d'Alembert principle and proceeding by an algebraic procedure. The…
The aim of this paper is to show that the Lagrange-d'Alembert and its equivalent the Gauss and Appel principle are not the only way to deduce the equations of motion of the nonholonomic systems. Instead of them, here we consider the…
The extended Hamilton's Principle and other methods proposed to handle non-holonomic constraints are considered. They dont agree with each other. By looking at its consistency with D'Alembert's principle for linear non-holonomic…
In this paper we derive the equations of motion for nonholonomic systems subject to inequality constraints, both, in continuous-time and discrete-time. The last is done by discretizing the continuous time-variational principle which defined…
We give a geometric description of variational principles in mechanics, with special attention to constrained systems. For the general case of nonholonomic constraints, a unified variational approach is given, and the equations of motion of…
The constraint distribution in non-holonomic mechanics has a double role. On one hand, it is a kinematic constraint, that is, it is a restriction on the motion itself. On the other hand, it is also a restriction on the allowed variations…
We consider the fractional generalization of nonholonomic constraints defined by equations with fractional derivatives and provide some examples. The corresponding equations of motion are derived using variational principle.
Variational principles play a central role in classical mechanics, providing compact formulations of dynamics and direct access to conserved quantities. While holonomic systems admit well-known action formulations, non-holonomic systems --…
Vakonomic mechanics has been proposed as a possible description of the dynamics of systems subject to nonholonomic constraints. The aim of the present work is to show that for an important physical system the motion brought about by…
This paper investigates the dynamics of nonholonomic mechanical systems, with a particular focus on the fundamental variational assumptions and the role of the transpositional rule. We analyze how the $\check Cetaev condition and the first…
The main theme of the article is the study of discrete systems of material points subjected to constraints not only of a geometric type (holonomic constraints) but also of a kinematic type (nonholonomic constraints). The setting up of the…
Based on the d'Alembert-Lagrange-Poincar\'{e} variational principle, we formulate general equations of motion for mechanical systems subject to nonlinear nonholonomic constraints, that do not involve Lagrangian undetermined multipliers. We…
The derivation of the equations of motion for nonholonomic systems remains a central issue in analytical mechanics, primarily due to the tension between the d'Alembert-Lagrange differential principle and integral variational approaches.…
This paper investigates the dynamics of nonholonomic mechanical systems, focusing on fundamental variational assumptions and the role of the transpositional rule. We analyze how the Cetaev condition and the first variation of constraints…
Any given system of ordinary differential equations in $n$-dimensional configuration space can be obtained from a peculiar variational problem with one local symmetry. The obtained action functional leads to the Hamiltonian formulation in…
One of the founders of the mechanics of nonoholonomic systems is Voronec who published in 1901 a significant generalization of the Caplygin's equations, by removing some restrictive assumptions. In the frame of nonholonomic systems, the…
The aim of this paper is to perform a deeper geometric analysis of problems appearing in dynamics of affinely rigid bodies. First of all we present a geometric interpretation of the polar and two-polar decomposition of affine motion. Later…
We propose a new description of dynamics of autonomous mechanical systems which includes the momentum-velocity relation. This description is formulated as a variational principle of virtual action more complete than the Hamilton Principle.…
The principle of least action seems not to lead to equations describing the motion consistent with the physical behaviour, for non-holonomic constraints. Here, a response is proposed for this fundamental problem in Mathematical Physics.…