Extension of the Mac-Millan’s Equations to Nonlinear Nonholonomic Mechanical Systems

In this article,the Mac-Millan's equations are extended to the most general nonholonomic mechanical systems and the generalized Mac-Millan's equations for nonlinear nonholonomic systems are obtained. And then the equivalence between the generalized Mac-Millan's equations and the generalized Chaplygin's equations is demonstrated. Finally an example is given.