Nonholonomic Constraints

Consider again the basic problem (11.3) and (11.4) for the two unknowns y ₁ and y ₂ but now with (11.5) replaced by the nonholonomic constraint (12.1) φ ( x ,   y 1 ,   y 2 ,   y ′ 1 ,   y ′ 2 )   =   0. https://s3-euw1-ap-pe-df-pch-content-public-p.s3.eu-west-1.amazonaws.com/9780203749821/5a9bd1b0-aa97-4dfe-adb3-8f69a65a6308/content/eq3078.tif"/>