One invariant measure and different Poisson brackets for two non-holonomic systems (Q691214): Difference between revisions

The author discusses the rolling of a ball over a sphere. The main emphasis is on two special cases: the Chaplygin system and the Borisov-Mamaev-Fedorov system. The framework of bi-hamiltonian geometry is used to derive a family of Poisson brackets associated with the corresponding invariant measure. Separation of variables and the application of Jacobi's method are also discussed. In contrast to approaches based on a Hamiltonization, no time reparametrizations are required.