... Page 4 56 Monday, May 6, 2002 3:21 PM4 36 Dynamics of Mechanical Systems References12.1. Kane, T. R., Dynamics of nonholonomic systems, J. Appl. Mech., 28, 574, 1 961 .12.2. Kane, T. R., Dynamics, ... Monday, May 6, 2002 3:21 PM450 Dynamics of Mechanical Systems Equation (13 .6. 1) then takes the form:(13 .6. 3)From Eqs. (13.2.27) through (13.2.31), we see that the solution of Eq. (13 .6. 3) may ... 469 Monday, May 6, 2002 3:21 PM 466 Dynamics of Mechanical Systems where as before T is the period. Solving Eq. (13.11.20) for T we obtain:(13.10.21)For a measure of the accuracy of the approximation,...