Equations of motion of variable mass nonholonomic dynamical systems in Poincare-Chetaev variables

The equations of motion of variable-mass nonlinear nonholonomic dynamical systems in Poincare - Chetaev variables have been studied. Firstly, the Poincare - Chetaev variables x(1),x(2),...,x(n) and more with n-m holonomic constraints and m - I nonlinear nonholonomic constraints of Chetaev type were introduced. Secondly, the equations of Chaplygin's form, Nielsen's form and Appell's form were derived from the D'Alembert-Lagrange principle for a variable-mass mechanical system. Finally, the problem of equivalence between the Chaplygin's equations and the Appell's equations was discussed, Then the theory is illustrated by an example due to Appell.