Li S.-M., Berakdar, J.
Reports on Mathematical Physics 60, pp 107-116 (2007)By analyzing the virtual work of reaction forces, we prove the failure of the vakonomic model in obtaining the correct equations of motion for nonholonomic mechanical systems. Only when the constraint is integrable can the actual equation of motion be obtained. We show that the null virtual work condition of reaction forces is a robust criterion on the validity of various models of analytical mechanics. For an illustration, classical examples are discussed.
Full text:PDF (91kB)
(For personal use only. Please send an email to our secretary if you need the paper.)