Equivalence of Chetaev Model and Vacco Model in Ideal Nonholonomic System and Active Realization Nonideal Nonholonomic System

The Chetaev model and Vacco model in nonholonomic system are studied. The equivalence of the Chetaev model and Vacco model in ideal nonholonomic system and nonideal nonholonomic system realized actively is testified. If nonholonomic constraint is nonideal, the Vacco model is usable from the aspect of mathematics. A general method is given that can be utilized to deal with the ideal nonholonomic system and nonideal nonholonomic system realized actively.