Nonholonomic Constraints: a New Viewpoint
Preprint
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 non-constrained 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 Neoether Theorem producing actual first integrals in case of symmetries.Keywords
All Related Versions
- Version 1, 2008-06-06, ArXiv
- Published version: Journal of Mathematical Physics, 50 (1), 013520.
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