2-3. A uniform rod of mass m and length / moves on the horizontal xy planc. t one end it has a knife-edge constraint which prevents a velocity component erpendicular to the rod at that point. (a) Write the nonholonomic constraint equation. (b) Using (x, y, 0) as coordinates, obtain the differential equations of motion. (c) Show that the Lagrange multiplier 2 represents the transverse force at the constraint. m c.m. (x, y)

2-3. A uniform rod of mass m and length / moves on the horizontal xy planc. t one end it has a knife-edge constraint which prevents a velocity component erpendicular to the rod at that point. (a) Write the nonholonomic constraint equation. (b) Using (x, y, 0) as coordinates, obtain the differential equations of motion. (c) Show that the Lagrange multiplier 2 represents the transverse force at the constraint. m c.m. (x, y)