Anholonomic frames in constrained dynamics

TL;DR

This paper explores the application of anholonomic frames within differential geometry to analyze constrained dynamical systems, specifically comparing nonholonomic and vakonomic systems, and establishing conditions for their dynamic consistency.

Contribution

It introduces a differential-geometric approach using anholonomic frames to study and compare nonholonomic and vakonomic systems, providing new insights into their conditions for dynamic consistency.

Findings

Conditions for the consistency of nonholonomic and vakonomic dynamics.

Illustrative examples confirming theoretical results.

Abstract

We demonstrate the usefulness of anholonomic frames in the contexts of nonholonomic and vakonomic systems. We take a consistently differential-geometric approach. As an application, we investigate the conditions under which the dynamics of the two systems will be consistent. A few illustrative examples confirm the results.