THE VAKONOMIC MODEL AND CHETAEV'S MODEL IN ANALYTICAL DYNAMICS OF NONHOLONOMIC SYSTEMS

The Chetaev's model and Vakonomic model are described in this paper. It is proved that the model of Hertz, Capon and Lindelof are identical to Vakonomic model while the model of Holder, Pars and Chaplygin are identical to Chetaev's model. The fact that Vakonomic model and Chetaev's model exist simultanously can be traced back to the early days of non-holonomic mechanics. These two models cause two problems: the d-δ and ∫-δ permutable problems. A review of the contribution of scholars in China to unify these...