Equations of motion in Poincaré-Četaev variables with constraint multipliers

Abstract

Suslev's constraint multipliers are used to derive the equations of motion of dynamical systems (holonomic or nonholonomic) in the form of Poincaré-Četaev equations and in the canonical form. For holonomic systems defined by redundant variables, the constraint multipliers occuring in the canonical equations are determined and a modification of the Hamilton-Jacobi Theorem for integrating the canonical equations is presented.