A global version of the Koon-Marsden Jacobiator formula

DOI10.1007/978-1-4939-2441-7_1MaRDI QIDQ3463508zbMATH OpenOpenAlexFDO

Authors Paula Balseiro

Publication date 19 January 2016

Published in Geometry, Mechanics, and Dynamics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1409.0386

Mathematics Subject Classification ID

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) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15)

Abstract: In this paper we study the Jacobiator (the cyclic sum that vanishes when the Jacobi identity holds) of the almost Poisson brackets describing nonholonomic systems. We revisit the local formula for the Jacobiator established by Koon and Marsden in cite{MarsdenKoon} using suitable local coordinates and explain how it is related to the global formula obtained in cite{paula}, based on the choice of a complement to the constraint distribution. We use an example to illustrate the benefits of the coordinate-free viewpoint.

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Cited in

(2)

• The Jacobiator of nonholonomic systems and the geometry of reduced nonholonomic brackets
• Conserved quantities and Hamiltonization of nonholonomic systems

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