A <holonomic constraint> can be written as an equation $f(q_1,\ldots,q_n,t)=0$ involving coordinates and possibly time, without an irreducible dependence on <velocities>. For example a particle confined to a fixed sphere obeys $x^2+y^2+z^2-a^2=0$. A general <rolling without slipping> constraint in three dimensions need not be integrable into such a coordinate equation.

Solution

Past exam of the physics 1 paper of the University of Oxford / 2014 / 4 / c / Solution

 Solution (source code)