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arXiv · 0806.1117

Nonholonomic Constraints: a New Viewpoint

J. Grabowski·M. de Leon·J. C. Marrero·D. Martin de Diego
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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 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.

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J. Grabowski, M. de Leon, J. C. Marrero, D. Martin de Diego. 2008-06-06. Nonholonomic Constraints: a New Viewpoint. https://doi.org/10.1063/1.3049752

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