Dynamics near relative equilibria: Nongeneric momenta at a \(1:1\) group-reduced resonance (Q1961442)

The paper studies the behavior of a Hamiltonian system with symmetry near a formally stable relative equilibrium. The case where this equilibrium is nonresonant has been considered in \textit{G. Patrick} [J. Nonlin. Sci. 5, 373-418 (1995; Zbl 0848.70011)]. The present paper is devoted to study the resonant case where the linearized dynamics of the shape of a formally stable Hamiltonian relative equilibrium at nongeneric momentum \(1:1\) resonates with a frequency of the relative equilibrium's generator. The obtained results are illustrated by the system of two axially symmetric rods which are joined by a frictionless ball-and-socket joint.