MEAM 535

Holonomic and Nonholonomic Constraints

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Degrees of freedom and constraints
Consider a system S with N particles, Pr (r=1,...,N), and their
positions vector xr in some reference frame A. The 3N components
specify the configuration of the system, S.

The configuration space is defined as:

T
{
ℵ= X X ∈ R 3N , X = [ x1 .a1, x1 .a 2 , x1 .a 3 ,…x N .a1, x N .a 2 , x N .a 3 ] }

The€ 3N scalar numbers are called configuration space variables or

coordinates for the system.

The trajectories of the system in the configuration space are always

continuous.

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A System of Two Particles on a Line

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Holonomic Constraints
Constraints on the position   Particle is constrained to lie on a
(configuration) of a system of particles plane:
are called holonomic constraints. A x1 + B x2 + C x3 + D = 0

  Constraints in which time explicitly   A particle suspended from a taut

enters into the constraint equation string in three dimensional space.
are called rheonomic. (x1 – a)2 +(x2 – b)2 +(x3 – c)2 – r2 = 0

  Constraints in which time is not

  A particle on spinning platter
explicitly present are called
scleronomic. (carousel)
x1 = a cos(ωt + φ); x2 = a sin(ωt + φ)

  A particle constrained to move on a

sphere in three-dimensional space
whose radius changes with time t.
x1 dx1 + x2 dx2 + x3 dx3 - c2 dt = 0
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Holonomic Constraint

x3 Configuration space

f(x1, x2, x3)=0

x2

x1
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Scleronomic, holonomic Rheonomic, holonomic

t
f(x1, x2)=0 f(x1, x2, t)=0

f(x1, x2 , t4)=0

f(x1, x2 , t3)=0

Configuration space f(x1, x2 , t2)=0

x2 x2
f(x1, x2)=0

x1 x1 f(x1, x2 , t1)=0

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Nonholonomic Constraints
Definition 1   A particle constrained to move on a
  All constraints that are not
holonomic
x circle in three-dimensional space
whose radius changes with time t.
x1 dx1 + x2 dx2 + x3 dx3 - c2 dt = 0
Definition 2
  Constraints that constrain the   The knife-edge constraint
velocities of particles but not their
positions
√
We will use the second definition.

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Aside: Inequality Constraints
Holonomic or non holonomic?
  Inequalities do not constrain the position in the same way as equality
constraints do.
  Rosenberg classifies inequalities as nonholonomic constraints.
  We will classify equality constraints into holonomic equality constraints and
non holonomic equality constraints and treat inequality constraints
separately

Inequalities in mechanics lead to complementarity constraints!

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Complementarity Constraints

normal
force, λ
separation, δ

δ = 0, λ > 0 δ > 0, λ = 0 δ<0

€ More €generally, 0 ≤ δ ⊥λ ≥ 0
€

€
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Examples of Velocity Constraints
Example 1 Are these configuration constraints?
A particle moving in a horizontal plane (call it the x-y plane) is steered in
such a way that the slope of the trajectory is proportional to the time elapsed
from t=0.
z

Example 2: Disk rolling on plane

Rolling constraint at P a3 q2

a2 b2 y
a1
e2 C
b3
C* q4
x q1 q3 b1
P
q5
e3 e1

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When is a constraint on the motion nonholonomic?
Velocity constraint We should be familiar with
this question in the 3
dimensional case

P dx + Q dy + Rdz =0
Or constraint on instantaneous motion

v
Pfaffian Form
Question
Can the above equation can be reduced
to the form:
f(x1, x2, ..., xn-1, t) = 0

Can we construct a surface in 3-D whose

normal at every point is given by v?
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When is a scleronomic constraint on motion in a three-dimensional
configuration space nonholonomic?
Velocity constraint   A sufficient condition for (1) to be
integrable is that the differential
form is an exact differential.
Or constraint in the Pfaffian form   If it is an exact differential, there
P dx + Q dy + Rdz =0 (1) must exist a function f, such that

Question
Can the above equation can be reduced
to the form:   The necessary and sufficient
conditions for this to be true is that
f(x, y, z)=0 the first partial derivatives of P, Q,
Or, and R with respect to x, y, and z
exist, and
Can we at least say when the differential
form (1) an exact differential?
df = P dx + Q dy + Rdz Recall result from Stokes Theorem!
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Exactness and independent of path
If v is continuous and has continuous first partials in a domain D,
and the line integral

is independent of path C in D (that is, v.dr is exact) then

(2)

C’’
C’ C

But (2) is only a sufficient condition for

(1) to be integrable.

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Necessary and sufficient condition for a motion constraint in 3-D
space to be holonomic
Can the constraint in the Pfaffian form   If (3) is an exact differential, there
P dx + Q dy + Rdz =0 (1) must exist a function g, such that

be reduced to the form:

f(x, y, z)=0
  The necessary and sufficient conditions
for this to be true is that the first partial
For the constraint to be integrable, it is
derivatives of P, Q, and R with respect
necessary and sufficient that there exist to x, y, and z exist, and
an integrating factor α(x, y, z), such
that,
αP dx + αQ dy + αRdz =0 (3)
be an exact differential.

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Does there exist α such that:

Necessary and sufficient condition for

(2) to be holonomic, provided v is a
well-behaved vector field and
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Examples
1.  sin x3 dx1 - cos x3 dx2 = 0

2. 2x2x3 dx1 + x1x3 dx2 + x1x2 dx3 = 0

x1 (2x2x3 dx1 + x1x3 dx2 + x1x2 dx3) = 0

d((x1)2 x2 x3) = 0
3.

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Nonholonomic constraints in 3-D
Other nonholonomic constraints

Holonomic
Nonholonomic

P dx + Q dy + Rdz =0
Holonomic

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Extension to 2-D rheonomic constraints
Compare
Can the constraint of the form Can the constraint of the form
P dx + Q dy + Rdz =0 P dx + Q dy + Rdt =0
be reduced to the form: be reduced to the form:
f(x, y, z)=0 f(x, y, t)=0

Necessary and sufficient condition

is the same if you replace z with t

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Multiple Constraints
dx2 – x3 dx1 = 0
and
dx3 – x1 dx2 = 0

Are the constraint equations non holonomic?

Individually: YES!

Together:

dx3 – x1 dx2 = dx3 – x1 (x3 dx1) = 0

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Frobenius Theorem: Generalization to n dimensons
n dimensional configuration space
v
m independent constraints (i=1,..., m)
w

The necessary and sufficient condition for the existence of m independent

equations of the form:
fi(x1, x2, ..., xn) = 0, i=1,..., m.
is that the following equations be satisfied:

where uk and wl are components of any two n vectors that lie in the null space of
the mxn coefficient matrix A = [aij]:

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Generalized Coordinates and Number of Degrees of Freedom
Number of degrees of freedom of a
holonomic system in any reference frame
No. of degrees of freedom
  the minimum number of variables to
completely specify the position of every = No. of variables required to
particle in the system in the chosen describe the system
reference
- No. of independent
The variables are called generalized configuration constraints
coordinates

There can be no holonomic constraint

equations that constrain* the values the
generalized coordinates can have.

q1, q2, ..., qn denote the generalized

coordinates for a system with n degrees of
freedom in a reference frame A.

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Degrees of Freedom: Example

Q
Q Q

P
P P

A A A

No. of degrees of freedom = No. of variables required to describe the system

- No. of independent configuration constraints
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Generalized Coordinates and Speeds
Holonomic Systems For a holonomic system, the number of
independent speeds describing the rate of
Number of degrees of freedom of a system change of configuration of the system is also
equal to n
in any reference frame
  the minimum number of variables to
completely specify the position of every In a system with n degrees of freedom in a
particle in the system in the chosen reference frame A, there are n scalar
reference quantities, u1, u2, ..., un (for that reference
frame) called generalized speeds. They that
The variables are called generalized are related to the derivatives of the
coordinates generalized coordinates by :

q1, q2, ..., qn denote the generalized

coordinates for a system with n degrees of
freedom in a reference frame A. where the nxn matrix Y = [Yij] is non
singular and Z is a nx1 vector.
n generalized coordinates specify the
position (configuration of the system)

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Example 1
Generalized Coordinates
q1 , q2 , q3 , q4 , q5

Generalized Speeds z

AωC = u1 b1 + u2 b2 + u3 b3 q2

u4 = derivative of q4
b2 y

u5 = derivative of q5 C
b3
C* q4
x q1 q3 b1
P
q5
Locus of the
point of contact Q on
the plane A

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Example 2
Bug moving radially on a turntable that Generalized coordinates in A
can rotate (θ=0)   s, φ
  x1, x2
Generalized speeds
Ω Q
s
b2 θ or
φ
b1
O Generalized speeds and derivatives of
generalized coordinates

a2

a1 Appears in
rheonomic constraints

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Example 2: Turntable angular velocity is given
Bug moving radially on a rotating Generalized coordinates in A
turntable (θ=0)   s
  x1
Generalized speeds
Ω Q
s or
b2 θ
φ
b1
O Generalized speeds and derivatives of
generalized coordinates

a2

a1 Appears in
rheonomic constraints

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Nonholonomic Constraints are Written in Terms of Speeds
m constraints in n speeds Define the number of degrees of
freedom for a nonholonomic system in a
reference frame A as p, the number of
independent speeds that are required to
completely specify the velocity of any
m speeds are written in terms of the n-m particle belonging to the system, in the
(p) independent speeds reference frame A.

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Example 3
Number of degrees of freedom
  n – m = 2 degrees of freedom

Generalized coordinates
  (x1, x2, x3)

Speeds: Choice 1
  forward velocity along the axis of
the skate, vf
  the speed of rotation about the
vertical axis, ω
  and the lateral (skid) velocity in the
transverse direction, vl

Speeds: Choice 2

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