This video contains an excellent analysis to a rather hard problem: A mass resting on a wedge, which itself is free to slide on a horizontal plane. The problem is complicated because (a) there are two accelerations to keep track of, and (b) the kinematic constraint is not-so-easy to apply. Special attention to the careful use of a ghost force (which is fine!) in the accelerating frame.
Solution by Alpar Sevgen
A kinematic constraint is a holonomic constraint if it can be expressed in the form …. But for more complicated steered cars, its not so easy to describe such …