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On singular Lagrangians affine in velocities

José F. Cariñena, José Fernández-Núñez, Manuel F. Rañada

math-pharXiv:math-ph/0302052

Abstract

The properties of Lagrangians affine in velocities are analyzed in a geometric way. These systems are necessarily singular and exhibit, in general, gauge invariance. The analysis of constraint functions and gauge symmetry leads us to a complete classification of such Lagrangians.

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