Z. Osinski’s research while affiliated with Warsaw University of Technology and other places

The paper presents the method for preparing the general mechanics equation and obtaining the equation of motion for the system with nonholonomic equations. The concept of generalised forces together with related quasicoordinates, quasivelocities and quasiaccelerations is applied. Presented form of the general equation is a uniform representation replacing equivalently known mechanics principles, This form of the equations is a good basis for the computer aided design incorporating symbolic calculus required for description of mechanical systems with nonholonomic constraints.