In Classical Mechanics, when we want to write the equations of motion of a system, we can add to them some constraints. If the can be put in the form
$$ f(t,r_1,r_2,\ldots,r_N)=0 $$being $r_i$ generalized coordinates, they are called holonomic. Otherwise, they are called nonholonomic constraint
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Author of the notes: Antonio J. Pan-Collantes
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