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Motion of mechanical systems with unilateral constraints. (Russian, English) Zbl 1100.70514
Vestn. Mosk. Univ., Ser. I 2005, No. 3, 18-24 (2005); translation in Mosc. Univ. Mech. Bull. 60, No. 3, 1-8 (2005).
The authors propose to extend the d’Alembert–Lagrange principle in the integral form for mechanical systems with ideal unilateral constraints, both holonomic and nonholonomic ones. Equations of motion with measures are deduced in the form of the first and second kind Lagrange equations. Also, main dynamics laws for such systems and Routh method of ignoring cyclic coordinates are presented. Some examples are cited.

MSC:
70G45 Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics
34A37 Ordinary differential equations with impulses
70F20 Holonomic systems related to the dynamics of a system of particles
70F25 Nonholonomic systems related to the dynamics of a system of particles
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