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A DIFFERENTIAL GEOMETRIC DESCRIPTION FOR TIME-INDEPENDENT CHETAEV'S NONHOLONOMIC MECHANICAL SYSTEM WITH UNILATERAL CONSTRAINTS

Zhang Yi (Department of Urban Constrution,University of Science & Technology of Suzhou,Suzhou 215011,China)Mei Fengxiang (Department of Applied Mechanics,Beijing Institute of Technology,Beijing 100081,China)  
By applying the framework of the tangent bundle geometry to the method of Lagrange multi- pliers,a geometric description of Chetaev's nonholonomic systems subjected to unilateral nonholonomic con- straints trod unilateral holonomic constraints respectively in time-independent circumstances is presented.
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