Mathematical Problems in Engineering / 2012 / Article / Fig 1

Research Article

Theoretical Analysis for a Class of Rheonomous Affine Constraints on Configuration Manifolds—Part I: Fundamental Properties and Integrability/Nonintegrability Conditions

Figure 1

Examples of systems subject to affine constraints.
543098.fig.001a
(a) Space Robot with Initial Angular Momentum
543098.fig.001b
(b) Boat on Running River
543098.fig.001c
(c) Ball on Rotating Table
543098.fig.001d
(d) Coin on Rotating Table

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