Regular and Chaotic Dynamics

, Volume 20, Issue 4, pp 449–462 | Cite as

Conservation of energy and momenta in nonholonomic systems with affine constraints

  • Francesco FassòEmail author
  • Nicola Sansonetto


We characterize the conditions for the conservation of the energy and of the components of the momentum maps of lifted actions, and of their “gauge-like” generalizations, in time-independent nonholonomic mechanical systems with affine constraints. These conditions involve geometrical and mechanical properties of the system, and are codified in the so-called reaction-annihilator distribution.


nonholonomic mechanical systems conservation of energy reaction-annihilator distribution gauge momenta nonholonomic Noether theorem 

MSC2010 numbers

70F25 37J60 37J15 70E18 


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© Pleiades Publishing, Ltd. 2015

Authors and Affiliations

  1. 1.Dipartimento di MatematicaUniversità di PadovaPadovaItaly

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