Time reversibility and energy conservation for Lagrangian systems with nonlinear nonholonomic constraints (Q5938852)

The authors consider mathematical theories of Lagrangian systems with nonlinear nonholonomic constraints. The main aim is to find out sufficient conditions that are simple, natural and geometric in nature, ensuring either the time reversibility or energy conservation of such systems. After discussing this problem at length in two sections (a number of theorems, lemmas, propositions with proofs and a remark are given), the authors present some examples which include holonomic systems which are conservative but not time-reversible.