General principles of dynamics and theory of unilateral constraints (Q5936688)

In the paper the motion of a mechanical system is discussed. On the system a holonomic ideal unilateral constraint \(f(x)\geq 0\) is imposed. The author compares various principles of dynamics for systems with unilateral constraints. In the paper the variational Hamiltonian principle is proposed for the model of a mechanical system where the constraint is realized by viscous friction forces.