then this constraint is a holonomic constraint; otherwise, it is nonholonomic. Therefore, all holonomic and some nonholonomic constraints can be expressed using the differential form. Examples of nonholonomic constraints that cannot be expressed this way are those that are dependent on generalized velocities. With a constraint equation in Pfaffian form, whether the constraint is holonomic or nonholonomic depends on whether the Pfaffian form is integrable. See Universal test for holonomic constraints below for a description of a test to verify the integrability (or lack of) of a Pfaffian form constraint.