On the geometry of Lagrangian mechanics with non-holonomic constraints (Q1299209)

The paper deals with the geometric formulation of non-holonomic Lagrangian mechanics. By using an algebraic approach to connections due to the first author, the paper generalizes a connection introduced by \textit{A. M. Veršik} and \textit{L. D. Faddeev} [Sov. Phys. Dokl. 17, 34-36 (1972); translation from Dokl. Akad. Nauk SSSR 202, 555-557 (1972; Zbl 0243.70014)] (in the case when the Lagrangian is quadratic and the constraints are linear in the velocities) to the general case of ideal non--holonomic constraints. This connection preserves the Hamiltonian by parallel transport; thus, it generalises the Levi--Civita connection of Riemannian manifolds.