Analytical dynamics with constraint forces that do work in virtual displacements.
The authors give a method for extending the Lagrangian formalism to systems where constraint forces do work in virtual displacements (for instance, friction forces). Considering, in general, nonholonomic constraints, they generalize the principle of virtual displacements, and then derive new Lagrangian equations. A final example is also given.
scientific article; zbMATH DE number 1860890