摘要
This paper uses Poincaré formalism to extend the Levi-Civita theorem to cope with nonholonomic sys- tems admitting certain invariant relations whose equations of motion involve constraint multipliers.Sufficient condi- tions allowing such extension are obtained and,as an application of the theory a generalization of Routh's motion is presented.
This paper uses Poincaré formalism to extend the Levi-Civita theorem to cope with nonholonomic sys- tems admitting certain invariant relations whose equations of motion involve constraint multipliers.Sufficient condi- tions allowing such extension are obtained and,as an application of the theory a generalization of Routh's motion is presented.
