Lf. Liang et al., THE STATIONARY VALUE PROPERTY OF HAMILTONS PRINCIPLE IN NONHOLONOMIC SYSTEMS, Applied mathematics and mechanics, 18(12), 1997, pp. 1169-1176
This paper proves that Hamilton's principle of both using the Appell-C
hetaev condition and not using the Appell-Chetaev condition is the var
iational principle of stationary action. The relevant problems are dis
cussed.