On Energy Rate Theorems for Linear First-Order Nonholonomic Systems

[+] Author and Article Information
John G. Papastavridis

Georgia Institute of Technology, School of Mechanical Engineering, Atlanta, GA 30332

J. Appl. Mech 58(2), 536-544 (Jun 01, 1991) (9 pages) doi:10.1115/1.2897217 History: Received February 20, 1989; Revised December 13, 1989; Online March 31, 2008


Starting with the Boltzmann/Hamel equations of motion of mechanical systems subject to general linear and first-order nonholonomic and rheonomic constraints, and in nonholonomic coordinates, this paper derives the general (reactionless) energy rate, or power, equation for such systems, in a straightforward and physically clear fashion. A power (reaction-containing) equation for these systems, but in holonomic coordinates, is also derived for completeness. An example of a sphere rolling on a uniformly spinning plane serves to illustrate these power theorems. The paper extends and corrects the recent work by Kane and Levinson (1988) on the same topic.

Copyright © 1991 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In