Constraint (classical mechanics)

Types of constraint

• First class constraints and second class constraints
• Primary constraints, secondary constraints, tertiary constraints, quaternary constraints.
• Holonomic constraints, also called integrable constraints, and Nonholonomic system
• Pfaffian constraints
• Scleronomic constraints and rheonomic constraints.
• Ideal constraints: those for which the work done by the constraint forces under a virtual displacement vanishes.