Abstract
Hamilton’s Principle is written in terms of generalized displacements and momenta. This allows holonomic and non-holonomic constraints to be treated on an equal basis using Lagrange multipliers to derive equations of motion for a dynamical system. Three examples are considered that have been previously considered in the literature by other methods.
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Udwadia, F.E.: Constrained motion of hamiltonian systems. Nonlinear Dyn. 83, 1–11 (2016)
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Dowell, E. Hamilton’s principle and Hamilton’s equations with holonomic and non-holonomic constraints. Nonlinear Dyn 88, 1093–1097 (2017). https://doi.org/10.1007/s11071-016-3297-9
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DOI: https://doi.org/10.1007/s11071-016-3297-9