Another Look at Nonholonomic Systems

[+] Author and Article Information
C. E. Passerello, R. L. Huston

Department of Engineering Analysis, University of Cincinnati, Cincinnati, Ohio

J. Appl. Mech 40(1), 101-104 (Mar 01, 1973) (4 pages) doi:10.1115/1.3422905 History: Received September 01, 1971; Revised December 22, 1971; Online July 12, 2010


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.

Copyright © 1973 by ASME
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