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### What are holonomic and non-holonomic constraints?

I was reading Herbert Goldstein's Classical Mechanics. Its first chapter explains holonomic and non-holonomic constraints, but I still don’t understand the underlying concept. Can anyone explain it to ...
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### Lagrangian Mechanics - Commutativity Rule $\frac{d}{dt}\delta q=\delta \frac{dq}{dt}$

I am reading about Lagrangian mechanics. At some point the difference between the temporal derivative of a variation and variation of the temporal derivative is discussed. The fact that the two are ...
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### Are constraint forces infinite?

A lot of authors claim that mechanical constraints are idealizations obtained by allowing enforcing forces to be infinite. But I either disagree or don't know what they mean. The only case where I ...
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### Derivation of Lagrange Equations from Newton's Second Law for a Non-holonomic System of Particles

I am interested to write down a derivation of Lagrange equations from Newton's second law for a non-holonomic system of particles. Here, I mention my derivation where I am stuck right at the last step....
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### Application of Lagrange Multipliers in action principle

In Goldstein's Classical Mechanics, he suggests the use of Lagrange Multipliers to introduce certain types of non-holonomic and holonomic contraints into our action. The method he suggests is to ...
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### Principle of virtual work for non-holonomic constraints

Goldstein (3rd ed. page 17) derives the principle of virtual work for systems subject to holonomic constraints. For a system in equilibrium, the force can be decomposed into applied and constraint ...
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