A generalization of the canonical form of Poincaré's equations
Chetayev variablescomplete integrabilityintegrability in integral manifoldsKozlov-Kolesnikov theoremLiouville's theoremnonlinear reversible replacements of canonical momentaPoincaré's equationsthe Hamiltonian systemtheorem on classes of equivalence of Hamiltonian systems
Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Dynamical aspects of finite-dimensional Hamiltonian and Lagrangian systems (37J99) Completely integrable infinite-dimensional Hamiltonian and Lagrangian systems, integration methods, integrability tests, integrable hierarchies (KdV, KP, Toda, etc.) (37K10) Generalized coordinates; event, impulse-energy, configuration, state, or phase space for problems in mechanics (70G10) Hamilton's equations (70H05)
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