摘要
In this letter, the Boltzmann-Hamel equations of nonholonomic mechanics are generalized to the following cases: from constant mass system to variable mass system, from 1-order system to higher order nonholonomic system, from inertial reference frame to noninertial reference frame.Suppose that a mechanical system with variable mass is composed of N-particles and its motion subject to higher order nonholonomic ideal constraints. Let the position of the system be determined by the n generalized coordinates q<sub>sr</sub>（s=1, 2,…, n） in the noninertial reference flame. The mass of i-th particle is m<sub>i</sub>= m<sub>i</sub>(t, q<sub>sr</sub>, q<sub>sr</sub>,…, q<sub>sr</sub><sup>m</sup>)and the relative vector r<sub>i</sub>′
基金
Project supported by the National Natural Science Foundation of Henan Province
