Vakonomic mechanics versus non-holonomic mechanics: A unified geometrical approach

摘要

In this paper some geometrical aspects of constrained mechanics are studied. A symplectic setting for vakonomic mechanics is given, and the conservation of the energy is discussed. This formulation needs constraint forces involving accelerations. A reduction procedure is given for Čaplygin vakonomic systems. Finally, a unified geometrical framework for non-holonomic and vakonomic mechanics is described. © 2000 Elsevier Science B.V.