The main
purpose of the paper consists in illustrating a procedure for expressing the
equations of motion for a general time-dependent constrained system.
Constraints are both of geometrical and differential type. The use of
quasi-velocities as variables of the mathematical problem opens the possibility
of incorporating some remarkable and classic cases of equations of motion.
Afterwards, the scheme of equations is implemented for a pair of substantial
examples, which are presented in a double version, acting either as a
scleronomic system and as a rheonomic system.
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