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staticrolling friction can be considered as constraint force. consider a circular ring rolling down a wedge without slipping. static friction at the contact provides a constraint type relation between x(distance of centre of mass from a fixed point) and the rotational coordinate(theta) of the ring. the constraint equation is nonholonomic- x'=r(theta'); where r is the radius of the ring. this so because the static friction made the ring to rotate.the ring might have slipped, but the presence of static friction constrained the body to rotate without slipping.The virtual work principle is also not voilated for rolling friction. but this not the case with sliding friction. its not a constraint force and the system with sliding friction must be excluded when de alembert equation is considered because the virtual work is not zero in this case.

static friction can be considered as constraint force. consider a circular ring rolling down a wedge without slipping. static friction at the contact provides a constraint type relation between x(distance of centre of mass from a fixed point) and the rotational coordinate(theta) of the ring. the constraint equation is nonholonomic- x'=r(theta'); where r is the radius of the ring. this so because the static friction made the ring to rotate.the ring might have slipped, but the presence of static friction constrained the body to rotate without slipping.

rolling friction can be considered as constraint force. consider a circular ring rolling down a wedge without slipping. static friction at the contact provides a constraint type relation between x(distance of centre of mass from a fixed point) and the rotational coordinate(theta) of the ring. the constraint equation is nonholonomic- x'=r(theta'); where r is the radius of the ring. this so because the static friction made the ring to rotate.the ring might have slipped, but the presence of static friction constrained the body to rotate without slipping.The virtual work principle is also not voilated for rolling friction. but this not the case with sliding friction. its not a constraint force and the system with sliding friction must be excluded when de alembert equation is considered because the virtual work is not zero in this case.

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static friction can be considered as constraint force. consider a circular ring rolling down a wedge without slipping. static friction at the contact provides a constraint type relation between x(distance of centre of mass from a fixed point) and the rotational coordinate(theta) of the ring. the constraint equation is nonholonomic- x'=r(theta'); where r is the radius of the ring. this so because the static friction made the ring to rotate.the ring might have slipped, but the presence of static friction constrained the body to rotate without slipping.