The energy equation for nonholonomic systems with nonlinear kinematic restrictions: a special category of constraints

The main topic of this work concerns the formulation of the equations of motion and the consequent energy balance that they imply for this type of systems, In particular, the analytical development that we will carry out on the equations of motion has as its objective the energy balance of the system. the delicate question of defining the displacements admitted by the system leads, as we shall see, to a non-univocal definition of the energy of the system, which finds coherence and unity for a particular class of nonholonomic constraints.