The Wagner curvature tensor in nonholonomic mechanics

DOI10.1070/RD2003V008N01ABEH000229MaRDI QIDQ1407960zbMATH OpenFDO

Authors Vladimir Dragović, Borislav Gajić

Publication date 14 September 2003

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

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

zbMATH Keywords

curvaturenonholonomic mechanicsRiemannian manifoldsWagner curvature tensor

Mathematics Subject Classification ID

Nonholonomic dynamical systems (37J60) 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)

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.

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Cited in

(17)

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• A note on flat nonholonomic Riemannian structures on three-dimensional Lie groups
• Constant curvature models in sub-Riemannian geometry
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• On computer-aided solving differential equations and stability study of markets
• On the Schouten and Wagner curvature tensors
• Invariant nonholonomic Riemannian structures on three-dimensional Lie groups
• On the geometry of nonholonomic mechanical systems with vertical distribution
• EXTENDED SCHOUTEN CLASSIFICATION FOR NON-RIEMANNIAN GEOMETRIES
• Rolling balls over spheres in $ \newcommand{\m}{\mathfrak m} {\mathbb{R}^n}$
• Nonholonomic connections, time reparametrizations, and integrability of the rolling ball over a sphere
• Cartan meets Chaplygin
• Restricted Jacobi Fields
• The Weitzenböck connection and time reparameterization in nonholonomic mechanics
• Schouten-Codazzi gravity
• Holonomy of K-contact sub-Riemannian manifolds
• Shortest and straightest geodesics in sub-Riemannian geometry

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