本书共分46个章节，主要对约束力学系统的变分原理、运动方程、相关专门问题的理论与应用、积分方法、对称性与守恒量等内容作了系统地阐述。该书可供各大专院校作为教材使用，也可供从事相关工作的人员作为参考用书使用。

本书系统地阐述了约束力学系统的变分原理、运动方程、相关专门问题的理论与应用、积分方法、对称性与守恒量等内容，具有很高的学术价值，为方便国际学术交流，译成英文出版。全书共分为六个部分：

第一部分：约束力学系统的基本概念。本部分包含6章，介绍分析力学的主要基本概念；第二部分：约束力学系统的变分原理。本部分有5章，阐述微分变分原理、积分变分原理以及Pfaff-Birkhoff原理；第三部分：约束力学系统的运动微分方程。本部分共11章，系统介绍完整系统、非完整系统的各类运动方程；第四部分：约束力学系统的专门问题。本部分有8章，讨论运动稳定性和微扰理论、刚体定点转动、相对运动动力学、可控力学系统动力学、打击运动动力学、变质量系统动力学、机电系统动力学、事件空间动力学等内容；第五部分：约束力学系统的积分方法。本部分有6章，介绍降阶方法、动力学代数与Poisson方法、正则变换、Hamilton-Jacobi方法、场方法、积分不变量；第六部分：约束力学系统的对称性与守恒量。本部分共10章，讨论Noether对称性、Lie对称性、形式不变性，以及由它们导致的各种守恒量。

本书的出版必将引起国内外同行的关注，对该领域的发展将起到重要的推动作用。

Ⅰ Fundamental Concepts in Constrained Mechanical Systems

1 Constraints and Their Classification

 1.1 Constraints

 1.2 Equations of Constraint

 1.3 Classification of Constraints

1.3.1 Holonomic Constraints and Nonholonomic Constraints

1.3.2 Stationary Constraints and Non-stationary Constraints

1.3.3 Unilateral Constraints and Bilateral Constraints

1.3.4 Passive Constraints and Active Constraints

 1.4 Integrability Theorem of Differential Constraints

 1.5 Generalization of the Concept of Constraints

1.5.1 First Integral as Nonholonomic Constraints

1.5.2 Controllable System as Holonomic or Nonholonomic System

1.5.3 Nonholonomic Constraints of Higher Order

1.5.4 Restriction on Change of Dynamical Properties as Constraint

 1.6 Remarks

2 Generalized Coordinates

 2.1 Generalized Coordinates

 2.2 Generalized Velocities

 2.3 Generalized Accelerations

 2.4 Expression of Equations of Nonholonomic Constraints in Terms of Generalized Coordinates and Generalized Velocities

 2.5 Remarks

3 Quasi-Velocities and Quasi-Coordinates

 3.1 Quasi-Velocities

 3.2 Quasi-Coordinates

 3.3 Quasi-Accelerations

 3.4 Remarks

4 Virtual Displacements

 4.1 Virtual Displacements

4.1.1 Concept of Virtual Displacements

4.1.2 Condition of Constraints Exerted on Virtual Displacements

4.1.3 Degree of Freedom

 4.2 Necessary and Sufficient Condition Under Which Actual Displacement Is One of Virtual Displacements

 4.3 Generalization of the Concept of Virtual Displacement

 4.4 Remarks

5 Ideal Constraints

 5.1 Constraint Reactions

 5.2 Examples of Ideal Constraints

 5.3 Importance and Possibility of Hypothesis of Ideal Constraints

 5.4 Remarks

6 Transpositional Relations of Differential and Variational Operations

 6.1 Transpositional Relations for First Order Nonholonomic Systems

6.1.1 Transpositional Relations in Terms of Generalized Coordinates

6.1.2 Transpositional Relations in Terms of Quasi-Coordinates

 6.2 Transpositional Relations of Higher Order Nonholonomic Systems

6.2.1 Transpositional Relations in Terms of Generalized Coordinates

6.2.2 Transpositional Relations in Terms of Quasi-Coordinates

 6.3 Vujanovic Transpositional Relations

6.3.1 Transpositional Relations for Holonomic Nonconservative Systems

6.3.2 Transpositional Relations for Nonholonomic Systems

 6.4 Remarks

Ⅱ Variational Principles in Constrained Mechanical Systems

7 Differential Variational Principles

 7.1 D'Alembert-Lagrange Principle

 ……

Ⅲ Differential Equations of Motion of Constrained Mechanical Systems

Ⅳ Special Problems in Constrained Mechanical Systems

Ⅴ Integration Methods in Constrained Mechanical Systems

Ⅵ Symmetries and Conserved Quantities in Constrained Mechanical Systems