Abstract
A geometrical formalism for nonlinear nonholonomic Lagrangian systems is developed. The solution of the constrained problem is discussed by using almost product structures along the constraint submanifold. Constrained systems with ideal constraints are also considered, and Chetaev conditions are given in geometrical terms. A Noether theorem is also proved.
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de León, M., Marrero, J.C. & de Diego, D.M. Mechanical systems with nonlinear constraints. Int J Theor Phys 36, 979–995 (1997). https://doi.org/10.1007/BF02435796
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DOI: https://doi.org/10.1007/BF02435796