
SIGMA 3 (2007), 036, 33 pages math.DS/0703043
http://dx.doi.org/10.3842/SIGMA.2007.036
Contribution to the Vadim Kuznetsov Memorial Issue
A 'UserFriendly' Approach to the Dynamical Equations of NonHolonomic Systems
Sergio Benenti
Department of Mathematics, University of Turin, Italy
Received November 29, 2006, in final form February 13, 2007; Published online March 01, 2007
Abstract
Two effective methods for writing the dynamical
equations for nonholonomic systems are illustrated. They are
based on the two types of representation of the constraints: by
parametric equations or by implicit equations. They can be applied
to linear as well as to nonlinear constraints. Only the basic
notions of vector calculus on Euclidean 3space and on tangent
bundles are needed. Elementary examples are illustrated.
Key words:
nonholonomic systems; dynamical systems.
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