Analysis of the motion of a non-holonomic mechanical system

The motion of a plane non-holonomic mechanical system, consisting of two point masses, which move in such a way that their velocities are mutually perpendicular, is analysed [Zeković D. Examples of non-linear non-holonomic constraints in classical mechanics. Vestnik MGU. Ser. 1. Matematika Mekhanika, 1991; 1:100–3]. The equations of the constraints of such a system are derived, the reactions of the constraints are calculated and the cyclical first integrals are written.