On singular Lagrangians affine in velocities
José F. Cariñena, José Fernández-Núñez, Manuel F. Rañada
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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