Jorge Cortés


Reduction and reconstruction of the dynamics of nonholonomic systems
J. Cortés, M. de León
Journal of Physics A: Mathematical and General 32 (1999), 8615-8645


The reduction and reconstruction of the dynamics of nonholonomic mechanical systems with symmetry are investigated. We have considered a more general framework of constrained hamiltonian systems since they appear in the reduction procedure. A reduction scheme in terms of the nonholonomic momentum mapping is developed. The reduction of the nonholonomic brackets is also discussed. The theory is illustrated with several examples.

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