Starting with Lagrange equations of the first kind, pure differential equations of multibody systems with rheonomic constraints are established.
根据变换方程与约束方程显含时间的等价性,提出了定常约束与定常系统判据的等同表述。
英语百科
Rheonomous
A mechanical system is rheonomous if its equations of constraints contain the time as an explicit variable. Such constraints are called rheonomic constraints. The opposite of rheonomous is scleronomous.