Add the bicycle model as an example of a nonholonomic system with a kinematic loop

[moorepants]

Solving the bicycle system would be a nice example to demonstrate most of the principles learned in the course.

[Peter230655]

I definitely think so! I have looked at the bicycle example (I believe in the sympy.physics.mechanics section) and tried to do one myself - but failed. So it would definitely further at least my understanding if you discussed this example thoroughly.