Dynamic (3)Holonomic and nonholonomic constraints If there appear time-derivatives of coordinates in an equation of a constraint(as in the case of a constraint of motion and if), moreover these derivatives can not be removed by the infinitesimal calculus (hence, the coordinate derivative contained in the equation of the constraint is not a total differential of a certain function and the equation of the constraint can not be changed into a finite form by integration) this constraint is called a nonholonomic constraint Generally, the equations of the nonholonomic constraints can not be expressed in differential form If there are on time-derivatives of coordinates in the equation of a constraint or if such derivatives can be transformed into a finite form by infinitesimal calculus, then this kind of constraint is called a holonomic constraint 1313 If there appear time-derivatives of coordinates in an equation of a constraint (as in the case of a constraint of motion and if), moreover, these derivatives can not be removed by the infinitesimal calculus, (hence, the coordinate derivative contained in the equation of the constraint is not a total differential of a certain function and the equation of the constraint can not be changed into a finite form by integration) this constraint is called a nonholonomic constraint. Generally, the equations of the nonholonomic constraints can not be expressed in differential form. If there are on time-derivatives of coordinates in the equation of a constraint, or if such derivatives can be transformed into a finite form by infinitesimal calculus, then this kind of constraint is called a holonomic constraint. (3) Holonomic and nonholonomic constraints