Is it possible to model Non holonomic constraint in SIMSCAPE Multibody?

Specifically in Simscape Multibody:

There is no constraint to hold velocity of two joints in an equation without including the position. For example rack and pinion constraint applies relations both on velocity and position of two frame. Is there any intrinsic tool in SIMSCAPE Multibody for constrainting velocity of two primitives without their position?

[Yifeng Tang]

Is there an example you have in mind that is constrained like this? Once the initial position is set, constraining velocity and position are equivalent, aren't they? Some clarification would be helpful.

[areftr]

Thank you very much for the response and attention.

A good example is pure ideal rotation of a sphere on plane. 3 rotational degrees of freedom and 2 translational degrees of freedom. Assume some other force and torques applied on this sphere through movement such that manually (I mean also by a matlab function) calculating the needed contact force to maintain the constraint is not an option. In best case it creates an algebric loop and is not desired (and different from what the question relates to). Even if the external effects be unknown the rolling constraint still is valid and coordinates must satisfy the constraint equations (between velocities).

I think using contact blocks is not the solution since they apply a contact model and are absolutely irrelevant to the question. The question is about modelling an (ideal) constraint (binding coordinate velocities via equations).

I believe It is also dynamically and mathematically incorrect to model the rolling sphere by two prependicular successive rack and pinions (and I don't know if it is possible yet it doesn't matter since it is not correct and please correct me if I am wrong).

So the question will be is it possible to model a "ideal, pure, exact" rolling on plane in simscape multibody?