Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Rheonomic systems with nonlinear nonholonomic constraints: the Voronec
  equations   One of the earliest formulations of dynamics of nonholonomic systems traces
back to 1895 and it is due to Caplygin, who developed his analysis under the
assumption that a certain number of the generalized coordinates do not occur
neither in the kinematic constraints nor in the Lagrange function. A few years
later Voronec derived the equations of motion for nonholonomic systems removing
the restrictions demanded by the Caplygin systems. Although the methods
encountered in the following years favour the use of the quasi-coordinates, we
will pursue the Voronec method which deals with the generalized coordinates
directly. The aim is to establish a procedure for extending the equations of
motion to nonlinear nonholonomic systems, even in the rheonomic case.

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The categories of this paper are: hep-ex
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The categories of this paper are: hep-lat
28
The categories of this paper are: alg-geom
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The categories of this paper are: patt-sol
24
The categories of this paper are: dg-ga
15
The categories of this paper are: nucl-ex
1
The categories of this paper are: cs
7
The categories of this paper are: hep-th
17
The categories of this paper are: q-fin
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The categories of this paper are: eess
21
The categories of this paper are: adap-org
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The categories of this paper are: supr-con
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The categories of this paper are: chao-dyn
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The categories of this paper are: atom-ph
18
The categories of this paper are: econ
5
The categories of this paper are: gr-qc