A nonholonomic constraint is a mathematical condition that restricts the possible movements of a physical system to a lower-dimensional subspace, typically by constraining the velocities rather than the positions of the system's components.
To determine if a constraint is nonholonomic, you must analyze the system's equations of motion. If the constraint can be expressed as a linear combination of the system's velocities, then it is nonholonomic. If not, it is holonomic.
Yes, a holonomic constraint can become nonholonomic if certain conditions, such as the presence of external forces or the system's motion being constrained to a curved surface, are present.
Some examples of nonholonomic constraints include rolling without slipping, double pendulum systems, and systems with friction or contact forces.
Nonholonomic constraints can significantly impact the dynamics of a system by limiting the range of possible motions and introducing additional forces or torques. This can result in complex and non-intuitive behavior, making the analysis and control of such systems challenging.