Related papers: Short-axis-mode rotation in complex variables
A simple rearrangement of the torque free motion Hamiltonian shapes it as a perturbation problem for bodies rotating close to the principal axis of maximum inertia, independently of their triaxiality. The complete reduction of the main part…
This work is devoted to a systematic exposition of the dynamics of a rigid body, considered as a system with kinematic constraints. Having accepted the variational problem in accordance with this, we no longer need any additional postulates…
A covariant hamiltonian formalism for the dynamics of compact spinning bodies in curved space-time in the test-particle limit is described. The construction allows a large class of hamiltonians accounting for specific properties and…
A new approach is developed to integrate numerically the equations of motion for systems of interacting rigid polyatomic molecules. With the aid of a leapfrog framework, we directly involve principal angular velocities into the integration,…
In a realistic scenario, the evolution of the rotational dynamics of a celestial or artificial body is subject to dissipative effects. Time-varying non-conservative forces can be due to, for example, a variation of the moments of inertia or…
The aim of this article is a comprehensive description of normal modes of molecular vibrations. The starting point is chosen to be a general molecular system with separated center of mass and an arbitrary embedding of body-fixed axes. This…
We employ a port-Hamiltonian approach to model nonlinear rigid multibody systems subject to both position and velocity constraints. Our formulation accommodates Cartesian and redundant coordinates, respectively, and captures kinematic as…
We study the dynamical response of a circularly-driven rigid body, focusing on the description of intrinsic rotational behavior (reverse rotations). The model system we address is integrable but nontrivial, allowing for qualitative and…
Extreme mass-ratio inspirals, in which solar-mass compact bodies spiral into supermassive black holes, are an important potential source for gravitational wave detectors. Because of the extreme mass-ratio, one can model these systems using…
We derive the dynamics of several rigid bodies of arbitrary shape in a 2-dimensional inviscid and incompressible fluid, whose vorticity field is given by point vortices. We adopt the idea of Vankerschaver et al. (2009) to derive the…
We introduce two numerical conjugacy invariants for dynamical systems -- the complexity and weak complexity indices -- which are well-suited for the study of "completely integrable" Hamiltonian systems. These invariants can be seen as "slow…
The motion of a rigid body in a quadratic potential is an important example of an integrable Hamiltonian system on a dual to a semidirect product Lie algebra so(n) x Symm(n). We give a Lagrangian derivation of the corresponding equations of…
In this article, we present the Lie transformation algorithm for autonomous Birkhoff systems. Here, we are referring to Hamiltonian systems that obey a symplectic structure of the general form. Two examples of normalization in the…
The Hamiltonian constraint formalism is used to obtain the first explicit complete analysis of non-trivial viable dynamic modes for the Poincar\'e gauge theory of gravity. Two modes with propagating spin-zero torsion are analyzed. The…
The Topological complexity a la Farber $\text{TC}(-)$ is a homotopy invariant which have interesting applications in Robotics, specifically, in the robot motion planning problem. In this work we calculate the topological complexity of the…
The Hamiltonian for a system of relativistic bodies interacting by their gravitational field is found in the post-Minkowskian approximation, including all terms linear in the gravitational constant. It is given in a surprisingly simple…
Recent general results on Hamiltonian reductions under polar group actions are applied to study some reductions of the free particle governed by the Laplace-Beltrami operator of a compact, connected, simple Lie group. The reduced systems…
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…
Integration of Hamiltonian systems by reduction to action-angle variables has proven to be a successful approach. However, when the solution depends on elliptic functions the transformation to action-angle variables may need to remain in…
In this paper the exact analytical solution of the motion of a rigid body with arbitrary mass distribution is derived in the absence of forces or torques. The resulting expressions are cast into a form where the dependence of the motion on…