]> 2026-06-28T17:56:21+00:00 Variational Principles in Constrained Systems: Theory and Experiments 0 en In this paper we present two methods, the nonholonomic method and the vakonomic method, for deriving equations of motion for a mechanical system with constraints. The resulting equations are compared. Results are also presented from an experiment for a model system: a ball rolling without sliding on a rotating table. Both sets of equations of motion for the model system are compared with the experimental results. The effects of various forms of friction are considered in the nonholonomic equations. With appropriate friction terms, the nonholonomic equations of motion for the model system give reasonable agreement with the experimental observations. Andrew D. Lewis and Richard M. Murray NoRequest 1994o <i>International Journal of Nonlinear Mechanics</i>, 30(6): 793-815, 1995<br> CDS Technical Report 94-016 lm94-cds Technical Report 2016-05-15T06:20:42Z 2457523.764375 Variational Principles in Constrained Systems: Theory and Experiments Title 102 en Title