Aspects of reduction and transformation of Lagrangian systems with symmetry (Q2514324)

This paper contains results on geometric Routh reduction and it is a continuation of a previous paper [\textit{B. Langerock} et al., J. Math. Phys. 53, No. 6, 062902, 19 p. (2012; Zbl 1277.70019)]. In the previous paper a new class of transformations was introduced between Lagrangian systems obtained after Routh reduction of Lagrangian systems with symmetry, so-called magnetic Lagrangian systems. In general, these reduced Lagrangian systems have magnetic force terms and are singular in the sense that the Lagrangian does not depend on some velocity components, hence the associated Legendre transformation is not a local diffeomorphism. In this paper the authors revisit this new concept of transformation in a more general framework and formalize its definition. Moreover, they demonstrate that the process of Routh reduction may be understood as the result of two steps: the application of such a transformation to the initial Lagrangian system with symmetry, followed by a trivial reduction.