On the general form of the law of dynamics

The dynamics of Lagrangian systems is formulated with a differential geometric approach and according to a new paradigm of the calculus of variations. Discontinuities in the trajectory, non-potential force systems and linear constraints are taken into account with a coordinate-free treatment. The law of dynamics, characterizing the trajectory in a general non-linear configuration manifold, is expressed in terms of a variational principle and of differential and jump conditions. By endowing the configuration manifold with a connection, the general law is shown to be tensorial in the velocity of virtual flows and to depend on the torsion of the connection. This result provides a general expression of the EULER–LAGRANGE operator. POINCARÉ and LAGRANGE forms of the law are recovered as special cases corresponding, respectively, to the connection induced by natural and mobile reference frames. For free motions, the geodesic property of the trajectory is directly inferred by adopting the LEVI-CIVITA connection induced by the kinetic energy.