Nonsimultaneous variational equations and structure of integral invariant for nonholonomic dynamical systems (Q1202814)

(*) \textit{E. T. Whittaker} [A treatise on the analytical dynamics of particles and rigid bodies (1988; Zbl 0665.70002)] first studied the relation between the first integral and integral invariant, and proved that an integral invariant can be determined by a given first integral. Recently, (**) \textit{Mei Fengxiang} [Chin. Sci. Bull. 36, No. 24, 2038- 2042 (1991)] further extended this result into the nonholonomic dynamical systems. In view of (*) and (**) which are confined to the discussion under simultaneous variation, this note investigates the general results under nonsimultaneous variation.