The Method of Jacobi Last Multiplier for Integrating Nonholonomic Systems

In this paper, a new integral method of nonholonomic dynamical systems is put forward. The differential equations of motion of nonholonomic systems in phase space are established. The definition of the Jacobi last multiplier of the systems is given, and the relation between the Jacobi last multiplier and the first integrals of the systems is discussed. The researches show that the solution of the systems can be found by the last multiplier if the quantity of first integrals of the systems is sufficient. An example is given to illustrate the application of the results.