Conservation of energy and momenta in nonholonomic systems with affine constraints

Abstract

We characterize the conditions for the conservation of the energy and of the components of the momentum maps of lifted actions, and of their `gauge-like' generalizations, in time-independent nonholonomic mechanical systems with affine constraints. These conditions involve geometrical and mechanical properties of the system, and are codified in the so-called reaction-annihilator distribution.

References in corpus (2)

• The Cartan form for constrained Lagrangian systems and the nonholonomic Noether theorem
• A 'User-Friendly' Approach to the Dynamical Equations of Non-Holonomic Systems

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• Moving energies as first integrals of nonholonomic systems with affine constraints
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• On the dynamics of a heavy symmetric ball that rolls without sliding on a uniformly rotating surface of revolution
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