Abstract:In applying the Udwadia–Kalaba equation for constrained mechanical systems, a direct proof of the equivalence of first integrals and nonholonomic constraints is given, and it is demonstrated that the generalized force of the system is equivalent to the constraint force derived by all first integrals of the nonholonomic constraints. Furthermore, depending on whether complete information is included in the subsets of the first integrals or not, the concept of “multiple kernel” of the system is introduced, and th… Show more
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