Hi Theo,
Depends on your requirement I think you don't need to have this done in object structure definition for GET calls. Maybe, it will be enough if you use "rel" notation "rel.<relation name>" in your case rel.childnotask in oslc.select section.
Please observed that in this example I used out of the box MXAPIWO object.
{{MASURL}}/maxrest/api/os/mxapiwo?oslc.where=wonum="1118"&oslc.select=wonum,description,siteid,orgid,rel.childnotask{wonum,description,parent}&lean=1
Sample json response:
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Bartosz Marchewka
IBM Maximo Consultant
AFRY
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