- Newton’s equations of motion
- Holonomic constraints are those given by equations of the form
$$\phi _k \left( \vec r _1, ..., \vec r _N, t \right) = 0, k = 1, ...$$
where \(\phi _k \left( \vec r_1, ..., \vec r_N, t \right)\) are functions of the position vectors \(\vec r_\alpha\) of the particles making up the system. Our discussion will be concerned exclusively with holonomic constraints
- The forces of constraints have the property that the total work done by all forces of constraints on a system under a small virtual displacement is zero.