How to model properly a non-holonomic system

Guys, i started a project about a unicycle and and I’m having problems to model the dynamics. Here I link the question I posted on stackexchange. I really need some help with these non-holonomic thing.

https://robotics.stackexchange.com/questions/21058/how-to-properly-model-a-non-holonomic-system

submitted by /u/ckevar
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