1/9/25, 12:28 AM Constraints and their Classifications: Classical Mechanics

Constraints and their Classifications: Classical

Mechanics
JULY 28, 2023 ADV-MATHEMATICS

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Constraints
The limitations on the motion of a system are called constraints or the conditions imposed on the
motion of a particle are called constraints. A constraint is a restriction or condition that limits the
possible motion of a system of particles or objects in classical mechanics. These constraints can
result from physical barriers, such as rigid connections or fixed boundaries, or from mathematical
relationships between the coordinates describing the system. Constraints play a critical role in
determining the system’s allowed configurations and motions, influencing its dynamics, and
defining the set of valid solutions. The study of constraints is critical in analyzing and
understanding the behaviour of mechanical systems in various branches of classical physics,
ranging from simple pendulums to complex multi-body systems.

Contents

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1/9/25, 12:28 AM Constraints and their Classifications: Classical Mechanics

Classification of Constraints

Constrained Motion
A motion that can’t proceed in any arbitrary manner and obeys certain given conditions is known
as constrained motion.

Examples of Constrained Motion:

(i) The motion of a rigid body is a constrained motion as the distance between any two particles
remains constant.

(ii) The motion of a point mass of a simple pendulum is constrained because it is subjected to the
following two conditions

The point mass oscillates in a fixed plane.

The point mass always remains at a constant distance from the point of suspension or the
length of the string always remains constant.

Types of Constraints
Constraints are classified as-

Holonomic Constraints
Constraints are said to be holonomic if constraints imposed on the motion of the system can be
expressed in the form of a mathematical equation as

f (r1 , r2 , ..., rn , t) = 0
​ ​ ​

Holonomic constraints are independent of velocities. If a constraint relation contains velocity and
upon integration w.r.t. time it can be made free from velocity then those constraints are known as
holonomic constraints.

e.g. The motion of a particle that is moving in a circular path in a plane i.e.

ri = k => ri − k = 0
​ ​ ​ ​

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1/9/25, 12:28 AM Constraints and their Classifications: Classical Mechanics

The motion of the rigid body as the distance between any two pairs of its particles remains
constant.

∣ ri − rj ∣2 −∣Cij ∣2 = 0
​ ​ ​ ​ ​

Non-Holonomic Constraints
Constraints are said to be non-holonomic if constraints imposed on the motion of a system
cannot be expressed in the form of mathematical equations i.e. if constraint relations are not
holonomic then it is non-holonomic. Non-holonomic constraints are irreducible functions of
velocities.

e.g. The motion of particles that is moving inside a hollow sphere. If gas molecules bound in a
sphere of radius ri , then the position of every molecule can be expressed as
​

ri ≤ k
​

Scleronomic Constraints
Constraints that are independent of time are known as scleronomic constraints. Scleronomic
constraints are also known as stationary constraints. General form of scleronomic constraint is

f ( r , r˙ ) = 0, f ( r , r˙ ) ≥ 0, r , r˙ denote respectively the position and velocity vectors at time t.

e.g. For a simple pendulum with fixed string length, the position vector of the bob r with respect
to the fixed fulcrum at any time t must satisfy the constraint relation ∣ r ∣2 = l2 , l being the

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1/9/25, 12:28 AM Constraints and their Classifications: Classical Mechanics

constant length of the string of the pendulum. This relation is of the form f (r) = 0. It is
independent of time, so sceleronomic.

Rheonomic Constraints
If the constraints relation depends explicitly on time then it is called rheonomic constraints.
˙ ˙ ˙
General form of rheonomic constraint is f ( r , r , t) = 0, f ( r , r , t) ≥ 0, r , r denote
respectively the position and velocity vectors at time t.

e.g. The constraint on a bead on a uniformly rotating wire in a force-free space. The position of the
particles depends on time.

Conservative Constraints
If the total mechanical energy of the system remains constant during the constrained motion,
then the constraint is known as the conservative constraint.

e.g. The constraints on a rigid body are conservative because the distance between any two
arbitrary points remains constant.

Dissipative Constraints
If the total mechanical energy of the system is not conserved during the constrained motion, then
the constraint is known as the dissipative constraint.

e.g. An expanding or contracting spherical gas container. The motion each gas particle at any
time t is constrained by the inequation given by ∣ r (t)∣ ≤ R(t), where R is the radius of the
container.

Bilateral Constraints
If at every point on the constraint surface both the forward and backward motions are possible,
the constraint relation can be expressed in the form of an equation. In such cases, the constraint
is known as the bilateral constraint. Constraint relations are in the form of equations. The general
˙
form of bilateral constraint is f ( r , r , t) = 0.

e.g. Simple pendulum with fixed rigid support with fixed length. At any time t the constraint relation
is ∣ r ∣2 = l2 , l being the constant length of the string of the pendulum.

Unilateral Constraints

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1/9/25, 12:28 AM Constraints and their Classifications: Classical Mechanics

If the constraint relation cannot be expressed in the form of an equation, the constraint is called
unilateral constraint. In such cases, forward motion is not possible at some point on the constraint
surface. Constraint relations are in the form of inequalities. The general form of unilateral
˙
constraint is f ( r , r , t) ≥ 0.

e.g. The motion of a train or bicycle until and unless breaks are applied to it.

Difference between Holonomic and Non-

Holonomic Constraints
Holonomic Non-Holonomic

It can be expressed in algebraic equality It obeys inequality relation

It is velocity independent It depends on velocity

It is integrable It depends on the velocity

Some systems and their constraints

System Type of constraint

Scleronomic, Holonomic, Bilateral,

Rigid Body
Conservative

Rheonomic, Holonomic, Bilateral,

Deformable bodies
Dissipative

Scleronomic, Holonomic, Bilateral,

Simple pendulum with rigid support
Conservative

Rheonomic, Holonomic, Bilateral,

Pendulum with variable length
Dissipative

Scleronomic, Holonomic, Unilateral,

Gas filled with hollow sphere
Conservative

An expanding or contracting spherical Rheonomic, Holonomic, Unilateral,

container of gas Dissipative

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1/9/25, 12:28 AM Constraints and their Classifications: Classical Mechanics

Finite or Geometrical Constraints

The constraints which can be expressed as f (r1 , r2 , ..., rN , t) ​ ​ ​ ​ ​ ​ = 0 are called finite or geometrical
constraints. These constraints imposed restrictions on the position of the particle but do not
impose restrictions on velocity.

At any instant of time, the particle cannot possess any arbitrary position.

Differential or Kinematical Constraints

˙ ˙ ˙
The constraints which can be expressed as f (r1 , r2 , ..., rN , r1 , r2 , ..., rN , t)
​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ = 0 are called
differential or kinematical constraints. These constraints imposed restrictions on the velocity of the
particle but do not impose restriction on the position of the particle.

At any instant of time, the particle can posses any arbitrary position.

Conclusion
In classical mechanics, constraints are the invisible architects who shape the motion of objects
from the macroscopic to the quantum level. They enrich mechanics by revealing a plethora of
intricate phenomena and guiding our understanding of the physical world. Physicists continue to
push the boundaries of classical mechanics by embracing and unravelling the secrets of
constraints, revealing the beauty and complexity of nature’s dance. So, the next time you see an
object in motion, consider the constraints that shape its path and the amazing interplay of forces
that govern its every move.

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