This article is cited in 8 papers

Nonholonomic Systems

Nonholonomic Reduction for Free and Proper Actions

R. Cushman^a, J. Śniatycki<sup>b

a</sup> Mathematics Institute, University of Utrecht, 3508TA, Utrecht, The Netherlands
^b Department of Mathematics and Statistics, University of Calgary, 2500, University Dr. N.W., Calgary, Alberta, T2N 1N4 Canada

Abstract: We study a nonholonomically constrained Hamiltonian system with a symmetry group which acts properly and freely on a constraint distribution. We show that the reduced dynamics is described by a generalized distributional Hamiltonian system. The general theory is illustrated by the example of Chaplygin's skate.

MSC: 70E18, 70E40

Received: 09.01.2002

Language: English

DOI: 10.1070/RD2002v007n01ABEH000196

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