Nonholonomic Constraints in Time-Dependent Mechanics
G. Giachetta, L. Mangiarotti, G. Sardanashvily
Abstract
The constraint reaction force of ideal nonholonomic constraints in time-dependent mechanics on a configuration bundle Q R is obtained. Using the vertical extension of Hamiltonian formalism to the vertical tangent bundle VQ of Q R, the Hamiltonian of a nonholonomic constrained system is constructed.
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