Starting with Lagrange equations of the first kind, pure differential equations of multibody systems with rheonomic constraints are established.
根据变换方程与约束方程显含时间的等价性，提出了定常约束与定常系统判据的等同表述。
Rheonomic constraint
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Rheonomous
A mechanical system is rheonomous if its equations of constraints contain the time as an explicit variable. Such constraints are called rheonomic constraints. The opposite of rheonomous is scleronomous.
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