@misc{Sławianowski_J._J._Algorithms_1987,
 author={Sławianowski, J. J.},
 volume={39},
 number={6},
 copyright={Creative Commons Attribution BY 4.0 license},
 address={Warszawa},
 journal={Archives of Mechanics},
 howpublished={online},
 year={1987},
 publisher={Polish Scientific Publishers IFTR},
 language={eng},
 abstract={Various procedures for deriving equations of motion of constrained mechanical systems are discussed and compared. A geometric interpretation of the procedures is given, stressing both linear and nonlinear nonholonomic constraints. Certain qualitative differences are analyzed between models of nonholonomic dynamics based on different procedures. Two algorithms of particular interest are: (1) the d'Alembert principle and its Appell-Tshetajev generalization, and (2) the variational Hamiltonian principle with subsidiary conditions. It is argued that the Hamiltonian principle, although not accepted in traditional technical applications, is more promising in generalizations concerning systems with higher differential constraints, or the more general functional constraints appearing in feedback and control systems.},
 type={Text},
 title={Algorithms for reactions of nonholonomic constraints and servo-constraints},
 URL={http://rcin.org.pl/Content/87441/PDF/WA727_18065_39-6-1987_AMS_Slawianowski-08.pdf},
 keywords={Mechanika stosowana - czasopisma [KABA]},
}