Extension of Whittaker equations to non-holonomic mechanical systems

In 1904, using the energy integral Whittaker studied the reduction of a dynamical problem to a problem with fewer degrees of freedom for the holonomic conservative systems and obtained the Whittaker equation^[1].In this article, Whittaker equations are extended to non-holonomic systems and the generalized Whittaker equations are obtained. And then these equations are transformed into Nielsen's form. Finally an example is given.