Nonconservative mechanical systems with nonholonomic constraints
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Abstract
A geometric setting for generally nonconservative mechanical systems on fibred manifolds is proposed. Emphasis is put on an explicit formulation of nonholonomic mechanics when an unconstrained Lagrangian system moves in a generally non-potential force field depending on time, positions and velocities, and the constraints are nonholonomic, not necessarily linear in velocities. Equations of motion, and the corresponding Hamiltonian equations in intrinsic form are given. Regularity conditions are found and a nonholonomic Legendre transformation is proposed, leading to a canonical form of the nonholonomic Hamiltonian equations for nonconservative systems.
Keywords
nonconservative mechanical systems equations of motion Hamiltonian equations nonholonomic constraints Chetaev equations Hamiltonian equations for nonconservative nonholonomic systemsPreview
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