Lagrangian mechanics on manifolds
In this chapter we introduce the concepts of a differentiable manifold and its tangent bundle. A lagrangian function, given on the tangent bundle, defines a lagrangian “holonomic system” on a manifold. Systems of point masses with holonomic constraints (e.g., a pendulum or a rigid body) are special cases.
KeywordsTangent Vector Tangent Bundle Configuration Space Lagrangian Function Constraint Force
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