The Bouncing Penny and Nonholonomic Impacts
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Publication:6325922
arXiv1909.11192MaRDI QIDQ6325922FDOQ6325922
Authors: William Clark, Anthony M. Bloch 
Publication date: 24 September 2019
Abstract: The evolution of a Lagrangian mechanical system is variational. Likewise, when dealing with a hybrid Lagrangian system (a system with discontinuous impacts), the impacts can also be described by variations. These variational impacts are given by the so-called Weierstrass-Erdmann corner conditions. Therefore, hybrid Lagrangian systems can be completely understood by variational principles. Unlike typical (unconstrained / holonomic) Lagrangian systems, nonholonomically constrained Lagrangian systems are not variational. However, by using the Lagrange-d'Alembert principle, nonholonomic systems can be described as projections of variational systems. This paper works out the analogous version of the Weierstrass-Erdmann corner conditions for nonholonomic systems and examines the billiard problem with a rolling disk.
Nonholonomic systems related to the dynamics of a system of particles (70F25) Hybrid systems of ordinary differential equations (34A38) Collision of rigid or pseudo-rigid bodies (70F35)
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