The principle of least constraint and the equations of motion of mechanical systems with arbitrary constraints
Abstract
A principle of least constraints is formulated for the motion of systems with arbitrary constraints, and the equations of motion are derived in four different forms. The equations of motion of systems in relative motion and of systems with nonideal constraints are given. Their practical significance for nonholonomic systems with linear and nonlinear constraints of higher order is demonstrated. The equations are applied to several examples.
 Publication:

Prikladnaia Mekhanika
 Pub Date:
 July 1975
 Bibcode:
 1975PriM...11Q..89S
 Keywords:

 Equations Of Motion;
 Gauss Equation;
 Motion Stability;
 Nonholonomic Equations;
 Structural Stability;
 Energy Methods;
 Linear Systems;
 Systems Stability;
 Physics (General)