Another Look at Nonholonomic Systems

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Abstract
The relative advantages and disadvantages of various analytical methods for nonholonomic systems are briefly presented and discussed. The techniques of Kane’s method are then used to develop a derivation of a general method which consolidates and employs the advantages of the various classical methods. These advantages include the automatic elimination of nonworking constraint forces while avoiding the computation of vector components of acceleration. The method also provides for the arbitrary choice of dependent variables so that it may be adapted to a variety of nonholonomic systems. Two special cases are considered and the method is then illustrated in the classical problem of the rolling coin.

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