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## Main Question or Discussion Point

Hi! Does the Lagrange equation ONLY apply when the constraints are holonomic? What about the constraining forces acting on the system (i.e. normal force, or other perpendicular forces), do they make a system holonomic?

What about the Lagrange equation with the general force on the right hand side. I read in Goldstein that it can be, for instance, a non-conservative frictional force. Why? Where did that come from?

What about the Lagrange equation with the general force on the right hand side. I read in Goldstein that it can be, for instance, a non-conservative frictional force. Why? Where did that come from?