Nonholonomic Constraints: a New Viewpoint
arXiv:0806.1117 · doi:10.1063/1.3049752
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.
15 pages
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Cited by in corpus (21)
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