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The major issues in the analysis of the motion of a constrained dynamic system are to determine this motion and calculate constraint forces. In the analytical mechanics, only the first of the two problems is analysed. Here, the problem is solved simultaneously using: 1) Principle of liberation of constraints; 2) Principle of generalized virtual displacement; 3) Idea of ideal constraints; 4) Concept of generalized and "supplementary" generalized coordinates. The Lagrange-D'Alembert principle ofdoi:10.2298/pim1205049d fatcat:jho2u6ecjvfslpcwpkia64tuna