The nonholonomic mechanics (Q5929072)

The authors present two approaches for the study of nonholonomic systems: d'Alembertian approach (based on d'Alembert's differential variational principle), and variational approach (based on integral variational principle). The d'Alembert's and vaconomic trajectories are defined, and a generalized version of Liouville theorem on the conservation of volume is proved. The authors give interesting comments concerning the physical relevance of the d'Alembertian and variational approaches. The paper is highly theoretical and does not present any application to a concrete mechanical system.