Related papers: Nonholonomic Constraints and Voronec's Equations
We propose a new description of dynamics of autonomous mechanical systems which includes the momentum-velocity relation. This description is formulated as a variational principle of virtual action more complete than the Hamilton Principle.…
We propose a first example of a simple classical field theory with nonholonomic constraints. Our model is a straightforward modification of a Cosserat rod. Based on a mechanical analogy, we argue that the constraint forces should be modeled…
This paper presents a geometric description of Lagrangian and Hamiltonian systems on Lie affgebroids subject to affine nonholonomic constraints. We define the notion of nonholonomically constrained system, and characterize regularity…
Loop corrections induce a dependence on the momentum squared of the coefficients of the Standard Model Lagrangian, making highly non-trivial (or even impossible) the diagonalization of its quadratic part. Fortunately, the introduction of…
We reexamine the problem of having nonconservative equations of motion arise from the use of a variational principle. In particular, a formalism is developed that allows the inclusion of fractional derivatives. This is done within the…
We give a geometric description of variational principles in mechanics, with special attention to constrained systems. For the general case of nonholonomic constraints, a unified variational approach is given, and the equations of motion of…
A geometric model for nonholonomic Lagrangian field theory is studied. The multisymplectic approach to such a theory as well as the corresponding Cauchy formalism are discussed. It is shown that in both formulations, the relevant equations…
In this paper we discuss variational constrained mechanics (vakonomic mechanics) on Lie affgebroids. We obtain the dynamical equations and the aff-Poisson bracket associated with a vakonomic system on a Lie affgebroid ${\mathcal A}$. We…
Hamiltonian systems with functionally dependent constraints (irregular systems), for which the standard Dirac procedure is not directly applicable, are discussed. They are classified according to their behavior in the vicinity of the…
Previous work in the literature has studied the Hamiltonian structure of an R-squared model of gravity with torsion in a closed Friedmann-Robertson-Walker universe. Within the framework of Dirac's theory, torsion is found to lead to a…
The paper analyzes a Lagrangian system which is controlled by directly assigning some of the coordinates as functions of time, by means of frictionless constraints. In a natural system of coordinates, the equations of motions contain terms…
We study resonances of nonlinear systems of differential equations, including but not limited to the equations of motion of a particle moving in a potential. We use the calculus of variations to determine the minimal additive forcing…
The Dirac constraint formalism is applied to linearized gravity to determine the structure of constraints and construct the canonical Hamiltonian. The diffeomorphism invariance of the Lagrangian is retrieved by a nontrivial generalization…
It is shown that a nonrelativistic mechanical system involving a general nonrelativistic potential V(|r1-r2|) between point particles at positions r1 and r2 can be extended to a Lagrangian system which is invariant under Lorentz…
The phenomenon of a topological monodromy in integrable Hamiltonian and nonholonomic systems is discussed. An efficient method for computing and visualizing the monodromy is developed. The comparative analysis of the topological monodromy…
Variational calculus on a vector bundle E equipped with a structure of a general algebroid is developed, together with the corresponding analogs of Euler-Lagrange equations. Constrained systems are introduced in the variational and in the…
The celebrated problem of a non-homogeneous sphere rolling over a horizontal plane was proved to be integrable and was reduced to quadratures by Chaplygin. Applying the formalism of variational integrators (discrete Lagrangian systems) with…
We extend the method of Controlled Lagrangians to nonholonomic Euler--Poincar\'e equations with advected parameters, specifically to those mechanical systems on Lie groups whose symmetry is broken not only by a potential force but also by…
We demonstrate the usefulness of anholonomic frames in the contexts of nonholonomic and vakonomic systems. We take a consistently differential-geometric approach. As an application, we investigate the conditions under which the dynamics of…
The main aim of the present paper is to raise the doubt that vakonomic dynamics may not be satisfactory as a model for velocity dependent constraints.