Radial kinetic nonholonomic trajectories are Riemannian geodesics! (Q2240798)
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English | Radial kinetic nonholonomic trajectories are Riemannian geodesics! |
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Radial kinetic nonholonomic trajectories are Riemannian geodesics! (English)
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4 November 2021
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In this paper, an interesting result that characterize radial nonholonomic geodesics is presented. It is proved that for kinetic nonholonomic systems, the solutions starting from a fixed point \(q\) are true geodesics for a family of Riemannian metrics on the image submanifold \(\mathcal{M}_q^{nh}\) of the nonholonomic exponential map. This fact shows that the kinetic nonholonomic trajectories with starting point \(q\), for sufficiently small times, minimize length in \(\mathcal{M}_q^{nh}\). This result opens the door to new developments in nonholonomic mechanics using Riemannian geometry techniques: Jacobi fields, global minimizing properties of nonholonomic trajectories, construction of variational integrators for nonholonomic mechanics, Hamiltonization or Lagrangianization of nonholonomic systems.
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nonholonomic mechanics
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nonholonomic geodesics
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Riemannian geometry
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exponential map
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radial geodesics
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