Lagrangian reduction and the double spherical pendulum (Q1209744)
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English | Lagrangian reduction and the double spherical pendulum |
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Lagrangian reduction and the double spherical pendulum (English)
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16 May 1993
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A geometrization and generalization of the Routh procedure of Lagrangian reduction is presented. This is done by including conservative gyroscopic forces into the variational principle. A Dirac constraint type of construction occurs useful as one of the aids for the nonabelian case. The rigid body as a simple nonabelian example is discussed. The general techniques of geometric mechanics is applied to the double spherical pendulum, that is a mechanical system with an abelian symmetry group. Lagrangian reduction methods are used in this case to get the linearized equations that enable one to detect bifurcations (such as the Hamilton- Hopf bifurcation). The authors expect that the methods of this paper can be applied to a number of other situations as well, such as pseudo-rigid bodies, etc.
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rigid body dynamics
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stability
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Routh procedure
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conservative gyroscopic forces
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variational principle
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symmetry group
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linearized equations
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Hamilton-Hopf bifurcation
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