Reduction of invariant constrained systems using anholonomic frames
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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) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33)
Abstract: We analyze two reduction methods for nonholonomic systems that are invariant under the action of a Lie group on the configuration space. Our approach for obtaining the reduced equations is entirely based on the observation that the dynamics can be represented by a second-order differential equations vector field and that in both cases the reduced dynamics can be described by expressing that vector field in terms of an appropriately chosen anholonomic frame.
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- Geodesic reduction via frame bundle geometry
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