As for catastatic nonholonomicconstraints,the real bit shift is in the virtual displacement,socan be obtained from D Alembert-Langrange principle.
对于非完整有规约束,由于实位移处于虚位移之中,因而由D’Alembert-Lagrange原理可得出(?),引用不定乘子λ_r由约束方程得(?),上两方程应该是相容的。
