AN EXTENSION OF LEVI-CIVITA’S THEOREM TO NONHOLONOMIC DYNAMICAL SYSTEMS

摘要

This paper uses Poincaré formalism to extend the Levi-Civita theorem to cope with nonholonomic sys-tems admitting certain invariant relations whose equations of motion involve constraint multipliers.Sufficient condi-tions allowing such extension are obtained and,as an application of the theory a generalization of Routh’s motion ispresented.