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Hamiltonian and non-Hamiltonian aspects of mechanical systems with nonholonomic constraints
Luis Garcia Naranjo
UA
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Hamiltonian and non-Hamiltonian aspects of mechanical systems with nonholonomic constraints Luis Garcia Naranjo UA |
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ABSTRACT Mechanical systems with restrictions on the velocities that do no arise from position constraints are termed nonholonomic. A simple example is a sphere that rolls without slipping on a table. The equations of motion for this type of systems do not arise from a variational principle and are not Hamiltonian. In this talk I will comment on the similarities that these systems have with ordinary Hamiltonian systems and on the new phenomena that might arise in the presence of the constraints. I will finally discuss some techniques that we develop to treat a certain class of nonholonomic systems with symmetries. |