Abstract
This paper studies the stability and bifurcations of the relative equilibrium of the double spherical pendulum, which has the circle as its symmetry group. The example as well as others with nonabelian symmetry groups, such as the rigid body, illustrate some useful general theory about Lagrangian reduction. In particular, we establish a satisfactory global theory of Lagrangian reduction that is consistent with the classical local Routh theory for systems with an abelian symmetry group.
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Dedicated to Professor Klaus Kirchgässner on the occasion of his 60th birthday
Research partially supported by a Humboldt award at the Universität Hamburg and by DOE Contract DE-FGO3-88ER25064.
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Marsden, J.E., Scheurle, J. Lagrangian reduction and the double spherical pendulum. Z. angew. Math. Phys. 44, 17–43 (1993). https://doi.org/10.1007/BF00914351
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DOI: https://doi.org/10.1007/BF00914351