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A new approach to the vakonomic mechanics

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Abstract

The aim of this paper was to show that the Lagrange–d’Alembert and its equivalent the Gauss and Appel principle are not the only way to deduce the equations of motion of the nonholonomic systems. Instead of them we consider the generalization of the Hamiltonian principle for nonholonomic systems with non-zero transpositional relations. We apply this variational principle, which takes into the account transpositional relations different from the classical ones, and we deduce the equations of motion for the nonholonomic systems with constraints that in general are nonlinear in the velocity. These equations of motion coincide, except perhaps in a zero Lebesgue measure set, with the classical differential equations deduced with the d’Alembert–Lagrange principle. We provide a new point of view on the transpositional relations for the constrained mechanical systems: the virtual variations can produce zero or non-zero transpositional relations. In particular, the independent virtual variations can produce non-zero transpositional relations. For the unconstrained mechanical systems, the virtual variations always produce zero transpositional relations. We conjecture that the existence of the nonlinear constraints in the velocity must be sought outside of the Newtonian mechanics. We illustrate our results with examples.

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Acknowledgments

The first author is partially supported by a MINECO/FEDER Grant MTM2008–03437, an AGAUR Grant number 2014SGR-568, an ICREA Academia, FP7–PEOPLE–2012–IRSES–316338 and 318999, and FEDER-UNAB10-4E-378. The second author was partly supported by the Spanish Ministry of Education through projects TSI2007-65406-C03-01 “E-AEGIS” and Consolider CSD2007-00004 “ARES”.

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Authors and Affiliations

  1. Departament de Matemàtiques, Universitat Autònoma de Barcelona, Bellaterra, 08193 , Barcelona, Catalonia, Spain

    Jaume Llibre

  2. Departament d’Enginyeria Informàtica i Matemàtiques, Universitat Rovira i Virgili, Avinguda dels Països Catalans 26, 43007 , Tarragona, Catalonia, Spain

    Rafael Ramírez

  3. Departament de Matemàtica Aplicada II, Universitat Politècnica de Catalunya, C. Pau Gargallo 5, 08028 , Barcelona, Catalonia, Spain

    Natalia Sadovskaia

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  1. Jaume Llibre
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Correspondence to Jaume Llibre.

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Llibre, J., Ramírez, R. & Sadovskaia, N. A new approach to the vakonomic mechanics. Nonlinear Dyn 78, 2219–2247 (2014). https://doi.org/10.1007/s11071-014-1554-3

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