Energy balance for nonholonomic nonlinear systems

Abstract

We consider nonholonomic systems with nonlinear restrictions with respect to the velocities. The mathematical problem is formulated by means of the Voronec equations extended to the nonlinear case. The main point of the paper is the balance of the mechanical energy induced by the equations of motion; the conservation of the energy on the basis of the tipology of the constraint equations is discussed. Several examples are performed.