On the Boltzmann-Hamel Equations of Motion: A Vectorial Treatment
Keyword(s):
This paper presents a direct vectorial derivation of the famous Boltzmann-Hamel equations of motion of discrete mechanical systems, in general nonlinear nonholonomic coordinates and under general nonlinear (velocity) nonholonomic constraints. The connection between particle and system vectors is stressed throughout, in all relevant kinematic and kinetic quantities/principles/theorems. The specialization of these results to the common case of linear nonholonomic coordinates and linear nonholonomic (i.e., Pfaffian) constraints is carried out in the paper’s Appendix.
A geometric approach to the transpositional relations in dynamics of nonholonomic mechanical systems
2018 ◽
Vol 15
(07)
◽
pp. 1850112
◽
2007 ◽
Vol 463
(2082)
◽
pp. 1421-1434
◽
2011 ◽
Vol 91
(11)
◽
pp. 899-922
◽
Keyword(s):
2014 ◽
Vol 11
(03)
◽
pp. 1450017
2011 ◽
Vol 21
(4)
◽
pp. 373-386
◽
Keyword(s):
1989 ◽
Vol 33
(4)
◽
pp. 1017-1029
◽