By switching to a different set of coordinates, can you make problem with semi holonomic constraints into a problem with holonomic constraints? If so, then when can you do this? I wold like to know if this is possible for all semi-holonomic problems, some semi-holonomic problems or no semi-holonomic problems.
My intuition is that it probably works for some specific cases, but not in general. However, I don't know the reason why. Would be very nice with some sort of proof.
(Constraints on the form: $f=f(q_i,\dot q_i,t)$.)