Krijgslaan 281, S9, 9000 Gent, Belgium
Department of Mathematical Physics and Astronomy, Ghent University
Fernandez O. E., Mestdag T., Bloch A. M.
A generalization of Chaplygin’s Reducibility Theorem
2009, vol. 14, no. 6, pp. 635-655
In this paper we study Chaplygin’s Reducibility Theorem and extend its applicability to nonholonomic systems with symmetry described by the Hamilton–Poincare–d’Alembert equations in arbitrary degrees of freedom. As special cases we extract the extension of the Theorem to nonholonomic Chaplygin systems with nonabelian symmetry groups as well as Euler–Poincaré–Suslov systems in arbitrary degrees of freedom. In the latter case, we also extend the Hamiltonization Theorem to nonholonomic systems which do not possess an invariant measure. Lastly, we extend previous work on conditionally variational systems using the results above. We illustrate the results through various examples of well-known nonholonomic systems.