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Abstract
The authors’ previously published results on a nonholonomic momentum form of Kane’s equations are extended from scleronomic to rheonomic systems. The momentum form is found to be partially Hamiltonian, and a new velocity form is found that is partially Lagrangian. The results are derived for general particle systems, and then specialized to rigid-body systems. Except for externally constrained velocities, all system matrices are independent of time, making the results power-conserving, and suitable for use with bond graphs. A new nonholonomic IC (NIC) bond-graph element is defined, and bond graphs for the new results are exhibited using this element
