Constraints that are not holonomic constraint.
There is, mainly, two reasons for being nonholonomic:
1. The constraint is of the form
$$ f(t,r_i,\dot{r}_N)=0 $$and this ODE cannot be integrated. In this case it is described as a Pfaffian equation that is non integrable. We can add this ODE to the equations of motion, and try to solve the system.
I think they are also called semi-holonomic.
2. The constraint is of the form
$$ f(t,r_1,r_2,\ldots,r_N)\leq 0. $$I don't know how proceed in this case.
________________________________________
________________________________________
________________________________________
Author of the notes: Antonio J. Pan-Collantes
INDEX: