please help with this problem. please do not copy previous versions of the solution, I have reviewed and have not made sense.

3. Consider the generic model of a vehicle. The vehicle has mass m and moment of inertia /5 about its center of mass G. The configuration of the system can be described by the coordinates of point A, X;and Y, and by the angle the body makes with the inertial X axis, denoted by &. Make the assumption that the velocity of point A is always along the plane of symmetry. The motion is in horizontal plane (or the plane of paper), i.e., gravity acts perpendicular to the plane of motion, and Fr and Fp are forces applied at the corners C and D. Find: (i) what is the equation of constraint for the motion of the vehicle? Derive that equation and then show that the constraint is nonholonomic; (ii) derive the Lagrange's equations of motion for the vehicle