In model-based control system analysis and design, explicit dynamic equations of motion are required. Hence, a unified theoretical framework, including a systematic generation of equations of motion for nonlinear, especially nonholonomic, systems is needed. Modeling methods for nonlinear holonomic systems are well known and can be found in many classical textbooks in mechanics and control (e.g., Isidori 1989; Lewis et al. 2004; Murray et al. 1994; Nijmeijer and van der Schaft 1990; Pars 1965; Slotine and Li 1991; Udwadia and Kalaba 1996).