Gauge momenta as Casimir functions of nonholonomic systems

García-Naranjo, Luis and Montaldi, James (2017) Gauge momenta as Casimir functions of nonholonomic systems. Archive for Rational Mechanics and Analysis. ISSN 0003-9527 (Print) 1432-0673 (Online)

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We consider nonholonomic systems with symmetry possessing a certain type of first integrals that are linear in the velocities. We develop a systematic method for modifying the standard nonholonomic almost Poisson structure that describes the dynamics so that these integrals become Casimir functions after reduction. This explains a number of recent results on Hamiltonization of nonholonomic systems, and has consequences for the study of relative equilibria in such systems.

Item Type: Article
Uncontrolled Keywords: nonholonomic, gauge momentum, Casimirs, Hamiltonization
Subjects: MSC 2010, the AMS's Mathematics Subject Classification > 70 Mechanics of particles and systems
Depositing User: Dr James Montaldi
Date Deposited: 23 Oct 2016
Last Modified: 06 Feb 2018 11:42

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