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arXiv · 1303.3883

Lagrangian mechanics on centered semi-direct product

Leonardo J. Colombo·Henry O. Jacobs
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Abstract

There exists two types of semi-direct products between a Lie group $G$ and a vector space $V$. The left semi-direct product, $G \ltimes V$, can be constructed when $G$ is equipped with a left action on $V$. Similarly, the right semi-direct product, $G \rtimes V$, can be constructed when $G$ is equipped with a right action on $V$. In this paper, we will construct a new type of semi-direct product, $G \Join V$, which can be seen as the `sum' of a right and left semi-direct product. We then parallel existing semi-direct product Euler-Poincar\'{e} theory. We find that the group multiplication, the Lie bracket, and the diamond operator can each be seen as a sum of the associated concepts in right and left semi-direct product theory. Finally, we conclude with a toy example and the group of 2-jets of diffeomorphisms above a fixed point. This final example has potential use in the creation of particle methods for problems on diffeomorphism groups.

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Leonardo J. Colombo, Henry O. Jacobs. 2013-03-15. Lagrangian mechanics on centered semi-direct product. https://arxiv.org/abs/1303.3883

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