Nonholonomic systems as restricted Euler-Lagrange systems
نویسندگان
چکیده
We recall the notion of a nonholonomic system by means of an example of classical mechanics, namely the vertical rolling disk. For a general mechanical system with nonholonomic constraints, we present a Lagrangian formulation of the nonholonomic and vakonomic dynamics using the method of anholonomic frames. We use this approach to deal with the issue of when a nonholonomic system can be interpreted as the restriction of a special type of Euler-Lagrange system. M.S.C. 2010: 34A26, 37J60, 70G45, 70G75, 70H03.
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