导出非线性非完整系统Mac－Millan方程的一种途径

The Method of Derivation of Mac-Millan's Equation for the Non-Linear Non-Holonomic System

只要由Ｊｏｕｒｄａｉｎ微分变分原理就能导出一阶非线性非完整系统的Ｍａｃ－Ｍｉｌｌａｎ方程，无需引入虚位移的牛青萍定义．后一定义只是本方法的自然推论．

The Mao-Millan's equation for the non-linear non-holonomic system in one order is derived only by using principle of differential variation of Jourdain.Therefore the definition of Niu Qinping for the virtual displacement is unnecessary. This is the natural deduction of the method in this paper, and so with the non-linear and non-holonomic system in high order.