“…The constraint C can be either holonomic (a function of position and time only C(r,t) = 0), or non-holonomic (a function of position, velocity, and time, C(r, : r,t) = 0). It is known that eqn (12), when used in the Euler-Lagrange form, does not give the correct equations of motion for non-holonomic constraints, 148 although some controversy exists. † This controversy is important as the original work of O'Connell and Thompson, 31 used an Euler-Lagrange equation with a constraint on the momentum of the MD system, see O'Connell 151 for full details.…”