... x))+()[]=()−+()xxkm2311222ξ 059 3_C13_fm Page 456 Monday, May 6, 2002 3:21 PM436 Dynamics of Mechanical Systems References12.1. Kane, T. R., Dynamics of nonholonomic systems, J. Appl. Mech., 28, 57 4, 1961.12.2. ... form of Eq. (12.3.3), we obtain the governing dynamical equations of the system:(12 .5. 12)where the coefficients mrj, nrj, and krj are:(12 .5. 13)(12 .5. 14)(12 .5. 15) (12 .5. 16)(12 .5. 17)(12 .5. 18)12.6 ... kkmkkkmkωωω222202020 059 3_C13_fm Page 452 Monday, May 6, 2002 3:21 PM 454 Dynamics of Mechanical Systems Next, let ω be ω2 (that is, ). By substituting into Eqs. (13.7.13), (13.7.14), and(13.7. 15) , we obtain...