[A new approach to the vakonomic mechanics
Presented by Dr. Rafael RAMíREZ, Dr. Natalia SADOVSKAIA
Type: Oral presentation
Track: Diferential Geometry and Mathematical Physics
The aim of this paper is to show that the Lagrange--d'Alembert and its equivalent the Gauss and Appel principle are not the only way to deduce the equations of motion of the nonholonomic systems. Instead of them, here we consider the generalization of the Hamiltonian principle for nonholonomic systems with nonzero transpositional relations. By applying this variational principle which takes into the account transpositional relations different from the classical ones we deduce the equations of motion for the nonholonomic systems with constraints that in general are nonlinear in the velocity. These equations of motion coincide, except perhaps in a zero Lebesgue measure set, with the classical differential equations deduced from d'Alembert--Lagrange principle.