noncontributing forces

Below eq (176 ) you state:

<img width="498" height="156" alt="Image" src="https://github.com/user-attachments/assets/5e312c2d-8fb9-476e-a403-88ccf2bd194d" />

If I understand correctly, item 2 'except if...' is the main advantage of Kane's method. Carlos Roithmayr says so in the 2nd sentence of chapter 6.6 in his book.
Would it make sense to add such a remark here?