In this work we establish the relation between the Jacobi last multiplier, which is a geometrical tool in the solution of problems in mechanics and that provides Lagrangian descriptions and constants of motion for second-order ordinary differential equations, and nonholonomic Lagrangian mechanics where the dynamics is determined by Hamel’s equations.

中文翻译：

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雅可比乘数和哈默尔的形式主义

在这项工作中，我们建立了雅可比最后乘子之间的关系，它是解决力学问题的几何工具，为二阶常微分方程提供拉格朗日描述和运动常数，与非完整拉格朗日力学之间的关系由 Hamel 方程确定。