EHRESMANN CONNECTION IN THE GEOMETRY OF NONHOLONOMIC SYSTEMS


Aleksandar Bakša




This article deals with a dynamic system whose motion is constrained by nonholonomic, reonomic, affine constraints. The article analyses the geometrical properties of the ``reactions" of nonholonomic constraints in Voronets's equations of motion. The analysis shows their link with the torsion of the Ehresmann connection, which is defined by the nonholonomic constraints.