# Is a small time locally controllable system holonomic?

If you define a wheel that can only rotate and move in the direction it is pointing to but using a combination of motions (arbitrarily short) it can be moved sideways, does the system still remain holonomic, by definition?

• using a combination of motions (arbitrarily short) it can be moved sideways .... what is the motion that would produce sideways displacement? ..... you appear to be talking about two different things ... first you start talking about an individual wheel, and then you switch to talking about a "system" in mid sentence Jun 16 '18 at 19:13