Nonholonomic constraints: A new viewpoint

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Abstract
The purpose of this paper is to show that, at least for Lagrangians of mechanical type, nonholonomic Euler–Lagrange equations for a nonholonomic linear constraint D may be viewed as nonconstrained Euler–Lagrange equations but on a new (generally not Lie) algebroid structure on D. The proposed novel formalism allows us to treat in a unified way a variety of situations in nonholonomic mechanics and gives rise to a version of Noether theorem producing actual first integrals in the case of symmetries.
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