Classification of the classical $SL(2,\mathbb{R})$ gauge transformations in the rigid body

Abstract

In this paper we revisit the classification of the gauge transformations in the Euler top system using the generalized classical Hamiltonian dynamics of Nambu. In this framework the Euler equations of motion are bi-Hamiltonian and $SL(2, \mathbb{R})$ linear combinations of the two Hamiltonians leave the equations of motion invariant, although belonging to inequivalent Lie-Poisson structures. Here we give the explicit form of the Hamiltonian vector fields associated to the components of the angular momentum for every single Lie-Poisson structure including both the asymmetric rigid bodies and its symmetric limits. We also give a detailed classification of the different Lie-Poisson structures recovering all the ones reported previously in the literature.