Abstract
Two types of nonholonomic systems with symmetry are treated: (i) the configuration space is a total space of a G-principal bundle and the constraints are given by a connection; (ii) the configuration space is G itself and the constraints are given by left-invariant forms. The proofs are based on the method of quasicoordinates. In passing, a derivation of the Maurer-Cartan equations for Lie groups is obtained. Simple examples are given to illustrate the algorithmical character of the main results.
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Koiller, J. Reduction of some classical non-holonomic systems with symmetry. Arch. Rational Mech. Anal. 118, 113–148 (1992). https://doi.org/10.1007/BF00375092
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DOI: https://doi.org/10.1007/BF00375092