Shu-Min Li, Berakdar J.

We develop a Lagrangian formulation for classical systems with a general nonholonomic constraints by utilizing the so-called velocity-determined virtual-displacement conditions, i.e. by assuming the virtual displacements to be along the direction of the velocities in a special reference frame. It is shown that our general scheme encompasses as special cases the Chetaev and Voronets approaches when the constraints are homogeneous or linear in relative velocities.

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