Nonholonomic constraints in time-dependent mechanics
Nonholonomic constraints in time-dependent mechanics
The constraint reaction force of ideal nonholonomic constraints in time-dependent mechanics on a configuration bundle Q→R is obtained. Using the vertical extension of Hamiltonian formalism to the vertical tangent bundle VQ of Q→R, the Hamiltonian of a nonholonomic constrained system is constructed. The present setting is more general than the …