Reduction of nonholonomic mechanical systems with symmetries (Q1289581)

In this paper, the authors present a geometric reduction procedure for Lagrangian systems subjected to nonlinear nonholonomic constraints in the presence of symmetries. The treatment combines, in some sense, certain aspects from the approaches proposed by \textit{A. M. Bloch et al.} [Arch. Ration. Mech. Anal. 136, No. 1, 21-99 (1996; Zbl 0886.70014)], \textit{C.-M. Marle} [Commun. Math. Phys. 174, No. 2, 295-318 (1995; Zbl 0859.70012)] and \textit{L. M. Bates} and \textit{J. Sniatycki} [Rep. Math. Phys. 32, No. 1, 99-115 (1993; Zbl 0798.58026)]. The procedure is based on a geometric method which, under some reasonable regularity conditions, allows one to obtain the constrained dynamics from the unconstrained dynamics by projection [\textit{M. de Leon, J. C. Marrero} and \textit{D. Martin de Diego}, Int. J. Theor. Phys. 36, 979-995 (1997; Zbl 0874.70012)]. Under the above-mentioned regularity conditions, the symmetries are incorporated in the system, assuming that a Lie group acts on the configuration manifold such that the lifted action to the phase space of velocities leaves invariant the main geometric objects related to the system under consideration. Under these conditions, the authors describe a general scheme in the context of Poisson reduction. They also define a nonholonomic momentum map and derive a momentum equation. In some cases, this equation allows one to obtain constants of motion. On the other hand, the relative positioning along the m7nstraint submanifold of the distribution spanned by the infinitesimal symmetry generators leads to a classification of nonholonomic systems with symmetry in three classes. For each of these classes the reduced equations of motion are derived. Finally, a particular example, a vertical disk rolling without slipping on a plane, is studied. An extension of the results of the paper under review for general constrained Hamiltonian systems has been obtained recently by the same authors [see J. Math. Phys. 40, No 2, 795-820 (1999; Zbl 0974.37050)].