The Wagner curvature tensor in nonholonomic mechanics

DOI10.1070/RD2003V008N01ABEH000229zbMATH Open1023.37036arXivmath-ph/0304018MaRDI QIDQ1407960FDOQ1407960

Authors: Vladimir Dragović, Borislav Gajić 

Publication date: 14 September 2003

Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)

Abstract: We present the classical Wagner construction from 1935 of the curvature tensor for completely nonholonomic manifolds in both invariant and coordinate way. The starting point is the Shouten curvature tensor for nonholonomic connection introduced by Vranceanu and Shouten. We illustrate the construction on two mechanical examples: the case of a homogeneous disc rolling without sliding on a horizontal plane and the case of a homogeneous ball rolling without sliding on a fixed sphere. In the second case we study the conditions on the ratio of diameters of the ball and the sphere to obtain a flat space - with the Wagner curvature tensor equal zero.

Full work available at URL: https://arxiv.org/abs/math-ph/0304018

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zbMATH Keywords

Riemannian manifoldscurvaturenonholonomic mechanicsWagner curvature tensor

Mathematics Subject Classification ID

Symplectic manifolds (general theory) (53D05) Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Nonholonomic dynamical systems (37J60)

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