2003/06/10 by Nivaldo A. Lemos̀, Nivaldo A. Lemos, Lemos, Nivaldo A.
Engineering · Physics and Astronomy · #Control and Dynamics of Mobile Robots #FOS: Physical sciences #General Physics (physics.gen-ph) #General Relativity and Quantum Cosmology (gr-qc) #High Energy Physics - Theory (hep-th) #Physics Education (physics.ed-ph) #gr-qc #hep-th #physics.ed-ph #physics.gen-ph
paper · pdf · doi:10.48550/arxiv.physics/0306078
Translation of the paper "Vinculos Nao-Holonomos e Equacoes de Voronec", to be published in Portuguese in Revista Brasileira de Ensino de Fisica
arxiv created 2003/06/10 · openalex publication_date 2003/06/10 · arxiv updated 2009/11/30 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Is it allowed, in the context of the Lagrange multiplier formalism, to assume that nonholonomic constraints are already in effect while setting up Lagrange's function? This procedure is successfully applied in a recent book [L. N. Hand and J. D Finch, \it Analytical Mechanics] to the problem of the rolling penny, but it does not work in general, as we show by means of a counterexample. It turns out that in many cases the use of nonholonomic constraints in the process of construction of the Lagrangian is allowed, but the correct equations of motion are the little known Voronec's equations.