Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
1893554 | Journal of Geometry and Physics | 2008 | 34 Pages |
Abstract
In this paper, we carry a detailed study of mechanical systems with configuration space Q⟶Q/GQ⟶Q/G for which the base Q/GQ/G variables are being controlled. The overall system’s motion is considered to be induced from the base one due to the presence of general non-holonomic constraints. It is shown that the solution can be factorized into dynamical and geometrical parts. Moreover, under favorable kinematical circumstances, the dynamical part admits a further factorization since it can be reconstructed from an intermediate (body) momentum solution, yielding a reconstruction phase formula. Finally, we apply this results to the study of concrete mechanical systems.
Keywords
Related Topics
Physical Sciences and Engineering
Mathematics
Mathematical Physics
Authors
Alejandro Cabrera,