Exercise 1: Constraints Write down equations for the following constraints of mechanical systems and classify them with respect to whether they are scleronomic or rheonomic and holonomic or not nonholonomic. a) A small ball which rolls down on the surface of a big ball Without friction. b) The suspension point of a planar pendulum carries out harmonic horizontal oscillations. c) A bead moving freely on a long straight wire through the originj which rotates in the Xy plane with constant angular velocity to about the zaxis. d) A bead slides along a straight wire. The wire has constant inclination 0; towards the horizontal xyplane and moves with constant acceleration in x direction