On nonholonomic and vakonomic dynamics of mechanical systems with nonintegrable constraints (Q1912927)

This paper examines properties of vakonomic equations, i.e., equations describing motion of a nonholonomic mechanical system obtained from a nonholonomic variational problem. Geometrical and mechanical interpretations of various terms in the equations are presented. It is important to stress that vakonomic equations are not equivalent to the previously known equations of nonholonomic systems. Thus the paper represents an important contribution to vakonomic mechanics.