Geodesic
On different forms of the theorem of kinetic energy
Theoretical and applied mechanics, Tome 11 (1985) no. 1, p. 147 Cet article a éte moissonné depuis la source eLibrary of Mathematical Institute of the Serbian Academy of Sciences and Arts

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Different forms of the kinetic energy are considered for nonholonomic systems. Starting from the fact that the theorems on kinetic energy derived from the equations of Lagrange of the first and second kind are not equivalent in the case of finite rheonomous constraints, an expression for the determination of the power of the constraints reaction is derived in the form of the equations of Lagrange of the second kind for the variable $t=q_0$. The system of equations for $q_i$, $q_0$ allows the formulation of a general theorem on kinetic energy in a deferential or in a finite form. 
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     author = {V. G. Rumyantsev},
     title = {On different forms of the theorem of kinetic energy},
     journal = {Theoretical and applied mechanics},
     pages = {147 },
     year = {1985},
     volume = {11},
     number = {1},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/TAM_1985_11_1_a13/}
}
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V. G. Rumyantsev. On different forms of the theorem of kinetic energy. Theoretical and applied mechanics, Tome 11 (1985) no. 1, p. 147 . http://geodesic.mathdoc.fr/item/TAM_1985_11_1_a13/