Abstract
The problem of the necessary conditions for the stability of steady motions for systems with constraints produced by large potential forces is investigated. An augmented matrix, similar to that arising under conditions when the restriction of quadratic forms to a linear manifold is sign-definite, is introduced to investigate the eigenvalues of the linearized system. The question of the correctness of the realization of unilateral constraints in special cases of zero reaction is discussed using an example.
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