id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ejpam-6091	Nawafleh, Khaled	Hamilton-Jacobi Framework for Nonholonomic Dynamics	2025	15	.pdf	application/pdf	4406	306	74	Now substituting equation (100) in constraint equation (85) we get: ẏ = sinφ, (103) Inserting equation (97) into equation (103) and integrating the result equation∫ ẏdt = ∫ sin(α1t+ β1)dt , (104) we find y(t) According to equations (25) and (26), equation (27) can be expressed as: θ̈ = −ẍ cosφ− ÿ sinφ.	cache/ejpam-6091.pdf	txt/ejpam-6091.txt