DYNAMICS OF NONHOLONOMIC SYSTEMS

The present paper considers Hamel's equations of motion for nonholonomic systems in terms of pseudo-coordinates and gives an efficient method (for definiteness it is called Hamel's method) for obtaining the reaction forces. The group of the nonholonomic operators is defined and its group structural constants are given. On the basis of the geometrical language it is outlined how the equations of motions are simplified when the system dynamics is considered in the tangent space of the configurational manifold.