Geodesic
Geometric mechanics on nonholonomic submanifolds
Communications in Mathematics, Tome 18 (2010) no. 1, pp. 51-77.

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In this survey article, nonholonomic mechanics is presented as a part of geometric mechanics. We follow a geometric setting where the constraint manifold is a submanifold in a jet bundle, and a nonholonomic system is modelled as an exterior differential system on the constraint manifold. The approach admits to apply coordinate independent methods, and is not limited to Lagrangian systems under linear constraints. The new methods apply to general (possibly nonconservative) mechanical systems subject to general (possibly nonlinear) nonholonomic constraints, and admit a straightforward generalization to higher order mechanics and field theory. In particular, we are concerned with the following topics: the geometry of nonholonomic constraints, equations of motion of nonholonomic systems on constraint manifolds and their geometric meaning, a nonholonomic variational principle, symmetries, a nonholonomic Noether theorem, regularity, and nonholonomic Hamilton equations.
Classification : 37J60, 70F25, 70G45, 70G75, 70H30 
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     author = {Krupkov\'a, Olga},
     title = {Geometric mechanics on nonholonomic submanifolds},
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Krupková, Olga. Geometric mechanics on nonholonomic submanifolds. Communications in Mathematics, Tome 18 (2010) no. 1, pp. 51-77. http://geodesic.mathdoc.fr/item/COMIM_2010__18_1_a4/