Hamiltonization of solids of revolution through reduction
arXiv:1610.06103 · doi:10.1007/s00332-017-9394-1
Abstract
In this paper we study the relation between conserved quantities of nonholonomic systems and the hamiltonization problem employing the geometric methods of [1,3]. We illustrate the theory with classical examples describing the dynamics of solids of revolution rolling without sliding on a plane. In these cases, using the existence of two conserved quantities we obtain, by means of 'gauge transformations' and symmetry reduction, genuine Poisson brackets describing the reduced dynamics.
33 pages. Version 2: Typos fixed and minor corrections
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