A `user-friendly' approach to the dynamical equations of non-holonomic systems

DOI10.3842/SIGMA.2007.036MaRDI QIDQ2473432zbMATH OpenOpenAlexFDO

Authors S. Benenti

Publication date 27 February 2008

Published in SIGMA. Symmetry, Integrability and Geometry: Methods and Applications (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/math/0703043, https://eudml.org/doc/55147, http://www.emis.de/journals/SIGMA/2007/036/

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zbMATH Keywords

dynamical equationsNon-holonomic systems

Mathematics Subject Classification ID

Nonholonomic dynamical systems (37J60) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Abstract: Two effective methods for writing the dynamical equations for non-holonomic systems are illustrated. They are based on the two types of representation of the constraints: by parametric equations or by implicit equations. They can be applied to linear as well as to non-linear constraints. Only the basic notions of vector calculus on Euclidean 3-space and on tangent bundles are needed. Elementary examples are illustrated.

Review text

The aim of this paper is to propose a \textsl{ready to use} approach to the dynamics of non-holonomic systems, requiring the knowledge of just basic notions of vector calculus on Euclidean three-dimensional spaces and on tangent bundles. Cotangent bundles and jet bundles in general are avoided. The paper is written as a tutorial on non-holonomic mechanics. After an introductory section, in which regular kinematical constraints are represented by parametric and implicit equations, in Section 3 the author describes the notions of virtual displacement and ideal (or perfect) constraints. Next, the Gauss principle (Section 4) and the Gibbs-Appell equations (Sections 5 and 6) are described. If the kinematical constraints are represented by parametric equations, the dynamical equations of non-holonomic systems are derived in Section 7. Section 8 describes the dynamical equations if the constraint submanifold is represented by a set of implicit equations. Finally, in Section 9, four examples are treated: the skate, the vertical rolling disc, two co-axial rolling discs and two points with parallel velocities (a genuine non-linear non-holonomic system). Detailed calculations for all these examples are provided for each of the two representations of non-holonomic constraints (by using parametric or implicit equations).

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