G-Chaplygin systemswith internal symmetries, truncation, and an (almost) symplecticview of Chaplygin's ball

DOI10.3934/JGM.2009.1.35zbMATH Open1168.53327arXiv0810.5454OpenAlexW2151905083MaRDI QIDQ834816FDOQ834816

Authors: Simon Hochgerner, Luis C. García-Naranjo 

Publication date: 27 August 2009

Published in: Journal of Geometric Mechanics (Search for Journal in Brave)

Abstract: Via compression ([11, 7]) we write the $n$-dimensional Chaplygin sphere system as an almost Hamiltonian system on $T^{\ast }SO(n)$ with internal symmetry group $SO(n-1)$. We show how this symmetry group can be factored out, and pass to the fully reduced system on (a fiber bundle over) $T^{\ast }{S}^{n-1}$. This approach yields an explicit description of the reduced system in terms of the geometric data involved. Due to this description we can study Hamiltonizability of the system. It turns out that the homogeneous Chaplygin ball, which is not Hamiltonian at the $T^{\ast }SO(n)$-level is Hamiltonian at the $T^{\ast }{S}^{n-1}$-level. Moreover, the 3-dimensional ball becomes Hamiltonian at the $T^{\ast }{S}^2$-level after time reparametrization, whereby we re-prove a result of [4, 5] in symplecto-geometric terms. We also study compression followed by reduction of generalized Chaplygin systems.

Full work available at URL: https://arxiv.org/abs/0810.5454

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zbMATH Keywords

non-holonomic systemsHamiltonizationChaplygin's ball

Mathematics Subject Classification ID

Momentum maps; symplectic reduction (53D20) Nonholonomic systems related to the dynamics of a system of particles (70F25)

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• Hamiltonisation, measure preservation and first integrals of the multi-dimensional rubber Routh sphere
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• On twisted contact groupoids and on integration of twisted Jacobi manifolds
• Poisson structures for two nonholonomic systems with partially reduced symmetries
• Hamilton-Jacobi theory for degenerate Lagrangian systems with holonomic and nonholonomic constraints
• Symplectic reduction of holonomic open-chain multi-body systems with constant momentum
• Gauge transformations, twisted Poisson brackets and Hamiltonization of nonholonomic systems
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