On the nonlinear Appell equations and the determination of generalized reaction forces (Q1103428): Difference between revisions
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English | On the nonlinear Appell equations and the determination of generalized reaction forces |
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On the nonlinear Appell equations and the determination of generalized reaction forces (English)
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1988
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This paper carries out the following tasks: (i) first, a vectorial derivation of the most general Appellian equations of motion for systems under nonlinear (first-order) nonholonomic constraints, and (ii) second, an extension of these equations, with the help of the ``principle of freeing/relaxation of the constraints'' (Hamel's ``Befreiungsprinzip''), to include the reactions caused by these (virtual-) workless constraints. Section 1 summarizes the necessary analytical mechanics background and then proceeds to the derivation of the reactionless Appell equations, while Section 2 combining the principles of d'Alembert/Lagrange (virtual work) and freeing/relaxation of constraints, arrives at the general Appellian equations including reactions. Section 3 ends the discussion with an application of this theory to the calculation of the reactions in the well-known (linear nonholonomic) knife edge/sled problem.
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Appellian equations of motion
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nonholonomic constraints
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principle of freeing
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relaxation of the constraints
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Hamel's ``Befreiungsprinzip''
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reactionless Appell equations
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knife edge/sled problem
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