Variational Constrained Mechanics on Lie Affgebroids

Details Variational Constrained Mechanics on Lie Affgebroids Variational Constrained Mechanics on Lie Affgebroids

2008-09-26

arxiv.org/abs/0809.4609v1

Physics

Mathematical Physics

23 pages

Scientific paper

In this paper we discuss variational constrained mechanics (vakonomic mechanics) on Lie affgebroids. We obtain the dynamical equations and the aff-Poisson bracket associated with a vakonomic system on a Lie affgebroid ${\mathcal A}$. We devote special attention to the particular case when the nonholonomic constraints are given by an affine subbundle of ${\mathcal A}$ and we discuss the variational character of the theory. Finally, we apply the results obtained to several examples.

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