On the nonlinear Appell equations and the determination of generalized reaction forces (Q1103428)

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.