impulsive constraints 
The equations of motion of a system under the action of the impulsive constraints


In order to solve the problem of motion for the system with n degrees of freedom under the action of p impulsive constraints, we must solve the simultaneous equations consisting of n+p equations.


Therefore, only n equations are necessary to solve the problem of impact for the system subjected to impulsive constraints.


This is based on the use of a class of impulsive constraints, the socalled inert constraints.


Spatial Formulation of Elastic Multibody Systems with Impulsive Constraints


Dynamics of Multibody Systems Subjected to Impulsive Constraints


This paper presents a procedure for studying dynamics of multibodysystems subjected to impulsive constraints which may be either holonomicor nonholonomic.


Impulsive motion occurs when the system is subject to either impulsive forces or impulsive constraints, or when subjected to both simultaneously.


The Appellian classification of impulsive constraints and the corresponding equations of impulsive motion of the multibody system are discussed.


Constraint impulses associated with finite and impulsive constraints are incorporated into impact dynamical equations through the impulsive Lagrange multipliers.

