Hamel Paradox and Rosenberg Conjecture in Analytical Dynamics

Abstract

Hamel proposed a seemingly intuitive, simple, straightforward, but incorrect, method of formulating the constrained equation of motion. The method has to do with the direct embedding of the constraint into the kinetic energy of the unconstrained motion. His intention was to caution against its possible adoption. Rosenberg echoed Hamel's warning and followed up to explore more insight of this method. He proposed a conjecture that the Hamel's embedding method would work if the constraint was holonomic. It would not work if the constraint was nonholonomic. We investigate the Hamel paradox and Rosenberg conjecture via the use of the Fundamental Equation of Constrained Motion.