Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
1898965 | Journal of Geometry and Physics | 2006 | 18 Pages |
Abstract
We present a framework for studying Lagrangian and Hamiltonian systems with symmetries, near points with configuration space isotropy. We use twisted parametrisations corresponding to phase space slices based at zero points of (co-)tangent fibres. Given a hyperregular Lagrangian, we find a Legendre transform in the twisted coordinates. For simple mechanical systems, we state necessary and sufficient conditions for the existence of relative equilibria in terms of an augmented-amended potential.
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Physical Sciences and Engineering
Mathematics
Mathematical Physics
Authors
Mark Roberts, Tanya Schmah, Cristina Stoica,