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Keywords:
nonholonomic constraints; d’Alembert’s principle
nonholonomic constraints; d’Alembert’s principle
Summary:
A formulation of the D’Alembert principle as the orthogonal projection of the acceleration onto an affine plane determined by nonlinear nonholonomic constraints is given. Consequences of this formulation for the equations of motion are discussed in the context of several examples, together with the attendant singular reduction theory.
References:
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