Abstract
In 1904, using the energy integral Whittaker studied the reduction of a dynamical problem to a problem with fewer degrees of freedom for the holonomic conservative systems and obtained the Whittaker equation[1].
In this article, Whittaker equations are extended to non-holonomic systems and the generalized Whittaker equations are obtained. And then these equations are transformed into Nielsen's form. Finally an example is given.
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References
Whittaker, E. T., A treatise on the Analytical Dynamics of Particles and Rigid Bodies, Cambridge Press. (1965)
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Communicated by Hsueh Dah-wei.
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Feng-xiang, M. Extension of Whittaker equations to non-holonomic mechanical systems. Appl Math Mech 5, 1041–1045 (1984). https://doi.org/10.1007/BF01875891
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DOI: https://doi.org/10.1007/BF01875891