English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

In this paper we derive Hamel equations for the motion of nonholonomicsystems subject to inequality constraints in quasivelocities. As examples, thevertical rolling disk hitting a wall and the Chaplygin sleigh with a knife edgeconstraint hitting a circular table are shown to illustrate the theoreticalresults.

Hamel equations and quasivelocities for nonholonomic systems with inequality constraints