Geometry of constrained connection systems
Let \(\mathcal D\subset TQ\) be a nonintegrable distribution on a Riemannian manifold \((Q,ds^2)\). Consider the nonholonomic Lagrangian system \((Q,L,\mathcal D)\), where the Lagrangian \(L\) is the kinetic energy defined by the Riemannian metric \(ds^2\). It is well known that nonholonomic geodesics, described by the Lagrange-d'Alembert principle, are not in general locally shortest paths of the Riemannian metric \(ds^2\) restricted to the non-integrable distribution \(\mathcal D\). In [\textit{A. Anahory Simoes} et al., Anal. Math. Phys. 11, No. 4, Paper No. 152, 28 p. (2021; Zbl 1482.70018)] it was proved that nonholonomic geodesics starting from a given point \(q\in Q\) are Riemannian geodesics for a family of Riemannian metrics \(ds^2_{nh}\) defined in the image of the nonholonomic exponential map at \(q\) of some open star-shaped neighbourhood of zero within \(\mathcal D_q\). In the current paper a similar statement is formulated for geodesic lines of the constrained connections systems \((Q,\nabla,\mathcal D)\). Here \(\nabla\) is an affine connection on \(\mathcal D\) considered as a vector bundle over \(Q\). Jacobi fields and Jacobi equations for constrained connection systems are studied as well.
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