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arXiv · 1610.06103

Hamiltonization of solids of revolution through reduction

Paula Balseiro
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Abstract

In this paper we study the relation between conserved quantities of nonholonomic systems and the hamiltonization problem employing the geometric methods of [1,3]. We illustrate the theory with classical examples describing the dynamics of solids of revolution rolling without sliding on a plane. In these cases, using the existence of two conserved quantities we obtain, by means of 'gauge transformations' and symmetry reduction, genuine Poisson brackets describing the reduced dynamics.

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Paula Balseiro. 2017-02-05. Hamiltonization of solids of revolution through reduction. https://doi.org/10.1007/s00332-017-9394-1

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