SPECIFIC FEATURES OF THE APPLICATION OF ROUTHS THEORY TO SYSTEMS WITHDIFFERENTIAL CONSTRAINTS

Specific points connected with the application of Routh's theory to th e study of steady motions in systems with differential constraints are discussed, on the assumption that first integrals exist. The need to eliminate all dependent variables initially from the expressions for t he first integrals is pointed out. The general conclusions are illustr ated by investigating, as an example, the steady motions of a dynamica lly symmetric sphere on an a absolutely rough horizontal plane.