VRPTW: is there a way to prevent waiting at a node before starting service?

In a typical VRPTW MIP formulation there are constraints that keep service at each node between node-specific lower and upper bounds. Using $$x_{ijk}$$ as a binary variable representing whether or not vehicle $$k$$ travels from node $$i$$ to node $$j$$, $$w_{ik}$$ is a variable representing the starting time at node $$i$$, $$s_{i}$$ is the service time at node $$i$$, $$a_{i}$$ and $$b_{i}$$ are the lower and upper bounds for service at node $$i$$, and $$M_{ij}$$ is a large scalar. The time-consistency constraints are: $$\begin{array} \\ w_{ik} + s_{i} + t_{ij} - w_{jk} \leq (1 - x_{ijk})M_{ij} \\ w_{ik} \geq a_{i} \\ w_{ik} \leq b_{i} \end{array}$$

Such constraints keep service within the time windows. But if a vehicle arrives at the node before the lower bound, it waits at the node until it can start service. Can someone point me to constraints that will prevent a vehicle from going to the node if it will get there too early? For example, is there a way to constrain the system so that vehicle $$k$$ will not arrive at node $$i$$ until $$a_{i}$$?

IMHO, whether the vehicle arrives before $$a_i$$ and waits there or takes a break a block away and then shows up right on time is a matter of execution rather than something that should be explicitly enforced in the optimization model. Just tell the driver not to loiter at the node.
While I agree with @RobPratt on this one, the following tweak to your model should work. Add a variable $$z_i$$ representing the combination of service time at $$i$$ and time spent loitering (somewhere) after serving location $$i$$. Change your first constraint to $$w_{ik} + z_{i} + t_{ij} - w_{jk} \leq (1 - x_{ijk})M_{ij}$$ and add the constraint $$w_{ik} + z_{i} + t_{ij} - w_{jk} \ge -(1 - x_{ijk})M_{ij},$$ so that service at $$j$$ starts exactly at arrival from $$i$$ when $$j$$ follows $$i$$. Finally, add the constraint $$z_i \ge s_i$$to preclude negative loitering time. I think this does what you asked in a technical sense, although in practice it may just change the problem from loitering at $$j$$ before service there to loitering at $$i$$ after service there.