= Holonomic constraint
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A <holonomic constraint> is a relation $f(q,t)=0$ involving generalized coordinates and possibly time, rather than a genuinely nonintegrable velocity relation. Independent smooth constraints of full row rank define a local configuration submanifold. Ideal constraint forces are normal to its tangent virtual displacements and can be represented by <Lagrange multipliers>. A time-dependent <holonomic constraint> need not conserve mechanical <energy>.
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