Abstract
This paper deals with the nonholonomic mechanical systems of Chetaev's type by use of modern differential geometric methods. Based on a precise definition of Chetaev-type constraint pfaffian systems, the differential geometric structure is given for the description of nonholonomic mechanical systems. In this framwork, the classical theory of Lagrange's equations with nonholonomic constraints is put into an invariant and coordinate free form. Furthermore, the problems of constraint imbedding and conservation laws are discussed within this framwork, and the Noether-type thereom on constraint-imbedding submanifolds is obtained.
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