On Unilaterally Constrained Motions of Rigid Bodies Systems

In this paper, the unilaterally constrained motions of a large class of rigid bodies systems are studied both locally and globally. The main conclusion is that locally,such a system bahaves like a particle in a Riemannian manifold with boundary, globally, under the assumption of energy conservation, the system behaves like a billiards system over a Riemannina manifold with boundary.