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This work constitutes the second part of a series of studies that aim to utilise tools from Hamiltonian mechanics to investigate the motion of an extended body in general relativity. The first part of this work [Refs. [1, 2]] constructed a…
The details of second-order partial derivatives of rigid-body Inverse/Forward dynamics are provided. Several properties and identities using Spatial Vector Algebra are listed, along with their detailed derivations. The expressions build…
We study four particular 3-dimensional natural Hamiltonian systems defined in conformally Euclidean spaces. We prove their superintegrability and we obtain, in the four cases, the maximal number of functionally independent integrals of…
The Lagrangian formalism is used to derive covariant equations that are suitable for use in continuously distributed matter in curved spacetime. Special attention is given to theoretical representation, in which the Lagrangian and its…
A class of integrable 2-dim classical systems with integrals of motion of fourth order in momenta is obtained from the quantum analogues with the help of deformed SUSY algebra. With similar technique a new class of potentials connected with…
Pluri-Lagrangian systems are variational systems with the multi-dimensional consistency property. This notion has its roots in the theory of pluriharmonic functions, in the Z-invariant models of statistical mechanics, in the theory of…
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…
The objective of this work is to examine the integrability of Hamiltonian systems in $2D$ spaces with variable curvature of certain types. Based on the differential Galois theory, we announce the necessary conditions of the integrability.…
The equations of Lagrangian, ideal, one-dimensional (1D), compressible gas dynamics are written in a multi-symplectic form using the Lagrangian mass coordinate $m$ and time $t$ as independent variables, and in which the Eulerian position of…
We investigate the geometric phases and the Bargmann invariants associated with a multi-level quantum systems. In particular, we show that a full set of `gauge-invariant' objects for an $n$-level system consists of $n$ geometric phases and…
We propose a new construction of two-dimensional natural bi-Hamiltonian systems associated with a very simple Lie algebra. The presented construction allows us to distinguish three families of super-integrable monomial potentials for which…
Inspired by the geometrical methods allowing the introduction of mechanical systems confined in the plane and endowed with exotic galilean symmetry, we resort to the Lagrange-Souriau 2-form formalism, in order to look for a wide class of 3D…
Variational integrators are a special kind of geometric discretisation methods applicable to any system of differential equations that obeys a Lagrangian formulation. In this thesis, variational integrators are developed for several…
The superintegrability of four Hamiltonians $\tilde{H_r} = \lambda\, H_r$, $r=a,b,c,d$, where $H_r$ are known Hamiltonians and $\lambda$ is a certain function defined on the configuration space and depending of a parameter $\kappa$, is…
An exactly solvable position-dependent mass Schr\"odinger equation in two dimensions, depicting a particle moving in a semi-infinite layer, is re-examined in the light of recent theories describing superintegrable two-dimensional systems…
Gauge-invariant systems in unconstrained configuration and phase spaces, equivalent to second-class constraints systems upon a gauge-fixing, are discussed. A mathematical pendulum on an $n-1$-dimensional sphere $S^{n-1}$ as an example of a…
We investigate the existence of Liouville integrable cosmological models in hybrid metric-Palatini theory. Specifically we use the symmetry conditions for the existence of quadratic in the momentum conservation laws for the field equations…
An infinite family of quasi-maximally superintegrable Hamiltonians with a common set of (2N-3) integrals of the motion is introduced. The integrability properties of all these Hamiltonians are shown to be a consequence of a hidden…
We demonstrate the common bihamiltonian nature of several integrable systems. The first one is an elliptic rotator that is an integrable Euler-Arnold top on the complex group GL(N) for any $N$, whose inertia ellipsiod is related to a choice…
The method of finding the minimal distance between smooth non crossing submanifolds in N-dimensional Euclidean space are presented. It based on solution of the equations that describe the dynamics of the pair of material points. The…