Dynamics holonomic nonholonomic constraint equations

[iolantham]

Homework Statement

Please see the attached file for the problem and figure.

Homework Equations

The Attempt at a Solution

This is what I have so far:
The position vector of the block, p_block= x_block w_x+ y_block w_y
p_block dot omega_z=0 holonomic constraint equation (dot product)
n=3N-M
N= # particles=1 block
M=# holonomic constraint equations=1
So, n=3-1=2
For the nonholonomic constraint eq.:
u_r=sum A_rs u_s + B_r, with r=p+1, ..., n
A_rs and B_r are functions of the parameteres q1 (usually angle), q2, ..., t (time)
p=# deg. of freedom
u_r=generalized speeds

For part c), I wrote omega₁ r₁=omega₂ e => omega₂=omega₁ r/e=10 r/e
Thank you in advance!

 

[iolantham]

No need to reply. I got the answer.

Homework Statement

Please see the attached file for the problem and figure.

Homework Equations

The Attempt at a Solution

This is what I have so far:
The position vector of the block, p_block= x_block w_x+ y_block w_y
p_block dot omega_z=0 holonomic constraint equation (dot product)
n=3N-M
N= # particles=1 block
M=# holonomic constraint equations=1
So, n=3-1=2
For the nonholonomic constraint eq.:
u_r=sum A_rs u_s + B_r, with r=p+1, ..., n
A_rs and B_r are functions of the parameteres q1 (usually angle), q2, ..., t (time)
p=# deg. of freedom
u_r=generalized speeds

For part c), I wrote omega₁ r₁=omega₂ e => omega₂=omega₁ r/e=10 r/e
Thank you in advance!