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. In this paper, it has been shown that the undetermined multipliers in the equations of impact can be cancelled for the cases of both the generalized coordinates and the quasi-coordinates. Thus there are only n-p equations of impact. Combining these equations with p impulsive constraint equations, we have simultaneous equations consisting ofn equations. Therefore, only n equations are necessary to solve the problem of impact for the system subjected to impulsive constraints. The method proposed in this paper is simpler than ordinary methods.