1.

Atwood machine: Consider two masses m1 and m2

tied by an inextensible string of length l across a
pulley of radius r. Constraint equations can be given
by:
i. x1 xi1 = 0 (no movement of m1 in x)
ii. x2 xi2 = 0 (no movement of m2 in x)
iii. z1 zi1 = 0 (no movement of m1 in z)
iv. z2 zi2 = 0 (no movement of m2 in z)
v. y1 + y2 + r = l (length of string is constant)
holonomic and scleronomic
2. Simple pendulum: Consider a single simple
pendulum with string length l. Constraint equations
can be given by:
i. z z0 = 0 (movement only in x-y plane)
ii. dl = 0 (length of string is constant)
holonomic and scleronomic
3. Double pendulum: Consider one bob with string
length l1 and another bob connected to it by a string
of length l2. Constraint equations can be given by:
i. z1 z0 = 0 (movement of first bob in x-y plane)
ii. z2 z0 = 0 (movement of second bob in x-y
plane)
iii. dl1 = 0 (String length of first bob constant)

iv. dl2 = 0 (String length of second bob constant)

holonomic and scleronomic

4. Object placed at h0: Let height be along z-axis. Say

the object is placed at the point (x0,y0,h0). Constraint
equations can be given by:
i. z h0 = 0 (Height is constant)
ii. x x0 = 0 (no movement in x-direction)
iii. y y0 = 0 (no movement in y-direction)
holonomic and scleronomic
5. Ball bouncing on floor without dissipation: Suppose
the velocity of ball before collision is u and after
collision is v. Assuming the ball is given no
acceleration initially, the constraint equations are
given by:
i. u + v = 0 (No dissipation)
ii. 0<=y<=h (height is constant)
Non-holonomic and scleronomic

6. Object sliding on a curved surface:

Consider the mass of the object to be m, and the

plane be x-y. The constraint equations are given by:
i. x2 + y2 = R2 {x < Rsin, y < R(1-cos)} (The
mass stays on the surface till angle )
nonholonomic and scleronomic
7. Cylinder rolling without slipping: Consider a cylinder
of radius r rolling without slipping at . The
constraint equations are given by:
i. v = r (There is no relative velocity of the point
in contact with the surface)
holonomic and scleronomic

8. Bead on a rotating hoop:

Consider the velocity of the bead to be v. The

constraint equations are given by:
i. x2 + y2 = (Rsin)2 (The bead follows a circular
path)
ii. v = (Rsin)0 (Bead revolves with a uniform
velocity)
9. Particle of mass m kept on a spherical balloon of
radius r whose volume is increasing at a constant
rate: The constraint equations are given by:
i. x2 + y2 + z2 = r2 (The mass stays on the balloon)
ii. dV/dt = const
4
d ( r3 )
3
dt

= const

r2dr/dt = const
z2dz/dt = const

10. Bead sliding on a wire: Consider the uniform

velocity of the wire to be v and that of bead to be
v
. The constraint equations can be given by:
v
i.
= k v (The direction of motion of the bead
is always along the direction of motion of the
wire)
w

11. Mass m attached inside a hoop of radius r which

is rolling without slipping with : Consider the
linear velocity of the mass to be v. Then the
constraint equations can be given by:
i. x = vt + rcost
ii. y = r(1+sint)
12. Man starts from origin and moves along y-axis
with uniform velocity. A dog starts from x>0, y>0,
and always moves along the line joining the dog and
the man: Consider the velocity of the man to be v
and that of dog to be v . The constraint equations
can be given by:
v
i.
= k ( r - r )
m