[Ether]

Originally Posted by Kevin Sevcik

But I'm not able to work out the Jacobian of the kinematic equations and figure out what it means at the moment, so I don't know for sure....

If you filter the the outputs (wheel speed commands) from the inverse kinematics, you will likely obtain a set of non-holonomic wheel speed commands during the transition. The forward kinematics of mecanum are discussed here.