Related papers: A Generalization of Chetaev's Principle for a Clas…
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…
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 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.…
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.…
I consider the equations of motion which follow from d'Alembert's principle for a general mechanical system in a space of N dimensions, constrained by a non-holonomic constraint which is linear and homogeneous in the generalised velocities.…
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…
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 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…
We first present a way to formulate the equations of motion for a nonholonomic system with nonlinear constraints with respect to the velocities. The formulation is based on the Cetaev condition which aims to extend the practical method of…
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…
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…
This paper considers systems subject to nonholonomic constraints which are not uniform on the whole configuration manifold. When the constraints change, the system undergoes a transition in order to comply with the new imposed conditions.…
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…
We study mechanical systems subject to constraint functions that can be dependent at some points and independent at the rest. Such systems are modelled by means of generalized codistributions. We discuss how the constraint force can…
Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints…
In a series of previous articles by the author, it was shown that one could effectively give a variational formulation to non-conservative mechanical systems, as well as ones that subject to non-holonomic constraints by starting with the…
Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on 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…
The problem of constant-speed ballistics is studied under the umbrella of non-linear non-holonomic constrained systems. The Newtonian approach is shown to be equivalent to the use of Chetaev's rule to incorporate the constraint within the…
In the context of holonomic constrained systems the identification of virtual displacements is clear and consolidated: this gives the possibility, once the class of displacements have been combined with Newton's equations, to write the…