Nonholonomic Constraints in Time-Dependent Mechanics
arXiv:math-ph/9807014 · doi:10.1063/1.532808
Abstract
The constraint reaction force of ideal nonholonomic constraints in time-dependent mechanics on a configuration bundle $Q\to R$ is obtained. Using the vertical extension of Hamiltonian formalism to the vertical tangent bundle $VQ$ of $Q\to R$, the Hamiltonian of a nonholonomic constrained system is constructed.
19 pages, LaTeX