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m equations of semi-holonomic constraints can be put in the form:

fi=(q1,q2,...,qn,[tex]\dot{q}[/tex]1,...,[tex]\dot{qn}[/tex])

but "commonly appears in the restricted form:

[tex]\Sigma[/tex]aikdqk +aitdt = 0

(i,k,t preceded by "a" should appear in subscript and the sum is over k)

I don't understand this form. what are the coefficients aik and ait? can they be functions of q or q dot?

I don't understand how is it possible for these two equations to be equivalent.

consider for example the following equation of a non-holonomic constraint: q1^2+q2dot=0

what would the second form of this equation look like?

fi=(q1,q2,...,qn,[tex]\dot{q}[/tex]1,...,[tex]\dot{qn}[/tex])

but "commonly appears in the restricted form:

[tex]\Sigma[/tex]aikdqk +aitdt = 0

(i,k,t preceded by "a" should appear in subscript and the sum is over k)

I don't understand this form. what are the coefficients aik and ait? can they be functions of q or q dot?

I don't understand how is it possible for these two equations to be equivalent.

consider for example the following equation of a non-holonomic constraint: q1^2+q2dot=0

what would the second form of this equation look like?

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