On singular Lagrangians affine in velocities
arXiv:math-ph/0302052 · doi:10.1088/0305-4470/36/13/311
Abstract
The properties of Lagrangians affine in velocities are analyzed in a geometric way. These systems are necessarily singular and exhibit, in general, gauge invariance. The analysis of constraint functions and gauge symmetry leads us to a complete classification of such Lagrangians.
AMSTeX, 22 pages