Nonholonomic versus vakonomic dynamics

TL;DR

This paper questions the adequacy of vakonomic dynamics as a model for velocity-dependent constraints, contrasting it with nonholonomic dynamics to highlight potential issues.

Contribution

It critically examines the differences between nonholonomic and vakonomic approaches, suggesting vakonomic dynamics may not be suitable for certain velocity-dependent constraints.

Findings

Vakonomic dynamics may not accurately model velocity-dependent constraints.

Nonholonomic and vakonomic approaches can yield different results.

The paper raises doubts about the applicability of vakonomic methods.

Abstract

The main aim of the present paper is to raise the doubt that vakonomic dynamics may not be satisfactory as a model for velocity dependent constraints.